Add asset kitchen_supplies/ware/4c5408c550e05b1da7a692cdc8d4c583
Browse files
.gitattributes
CHANGED
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@@ -7556,4 +7556,5 @@ dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/affordance/mesh_p
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| 7556 |
dataset/kitchen_supplies/ware/49bfb01f037d5bae95992404167333cc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7557 |
dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7558 |
dataset/kitchen_supplies/ware/4b2bd6998bcd577386fb9f69f393b2ab/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7559 |
-
dataset/kitchen_supplies/ware/
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| 7556 |
dataset/kitchen_supplies/ware/49bfb01f037d5bae95992404167333cc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7557 |
dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7558 |
dataset/kitchen_supplies/ware/4b2bd6998bcd577386fb9f69f393b2ab/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7559 |
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dataset/kitchen_supplies/ware/4b2f84fb58c0593896621e76e1a84edf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7560 |
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dataset/kitchen_supplies/ware/4c5408c550e05b1da7a692cdc8d4c583/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/ware/4c5408c550e05b1da7a692cdc8d4c583/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "bowl and stem",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp around the narrow stem to lift and carry the glass",
|
| 10 |
+
"confidence": 0.9
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
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"scenario": "hold the lower bowl carefully to stabilize and reposition the glass",
|
| 14 |
+
"confidence": 0.48
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"contain liquid",
|
| 19 |
+
"support the cup above the base",
|
| 20 |
+
"connect bowl to base for handling",
|
| 21 |
+
"form the main drinking vessel"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Reflective silver-colored metallic martini-glass body consisting of a wide flared conical bowl and a long thin stem below it, with a smooth glossy finish.",
|
| 24 |
+
"id": 0,
|
| 25 |
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"grasp_group": {
|
| 26 |
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"grasp_0": {
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| 27 |
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"confidence": 0.9739513397216797,
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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": 0.3169031245300393,
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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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"confidence": 0.9706519246101379,
|
| 44 |
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"position": [
|
| 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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"w": 0.28646660959314324,
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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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]
|
| 56 |
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}
|
| 57 |
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},
|
| 58 |
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"grasp_2": {
|
| 59 |
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"confidence": 0.9686024785041809,
|
| 60 |
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"position": [
|
| 61 |
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| 62 |
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| 63 |
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|
| 64 |
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],
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"orientation": {
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| 66 |
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"w": 0.35545865751739986,
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| 67 |
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"xyz": [
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| 70 |
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| 71 |
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]
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| 72 |
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}
|
| 73 |
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},
|
| 74 |
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"grasp_3": {
|
| 75 |
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"confidence": 0.9683161377906799,
|
| 76 |
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"position": [
|
| 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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"w": 0.1576222584573652,
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| 83 |
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"xyz": [
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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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"grasp_4": {
|
| 91 |
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"confidence": 0.9682549834251404,
|
| 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": {
|
| 98 |
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|
| 99 |
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"xyz": [
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|
| 102 |
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| 103 |
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]
|
| 104 |
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}
|
| 105 |
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},
|
| 106 |
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"grasp_5": {
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| 107 |
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"confidence": 0.9671785831451416,
|
| 108 |
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"position": [
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| 111 |
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|
| 112 |
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],
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"orientation": {
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| 114 |
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"w": 0.3838454680025439,
|
| 115 |
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"xyz": [
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| 118 |
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| 119 |
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]
|
| 120 |
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}
|
| 121 |
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},
|
| 122 |
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"grasp_6": {
|
| 123 |
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"confidence": 0.9671263098716736,
|
| 124 |
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"position": [
|
| 125 |
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|
| 126 |
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|
| 127 |
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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_7": {
|
| 139 |
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"confidence": 0.9668325781822205,
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| 140 |
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"position": [
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|
| 144 |
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],
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"orientation": {
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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": 0.9668302536010742,
|
| 156 |
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"position": [
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],
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"orientation": {
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"w": 0.14668745298072483,
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"xyz": [
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|
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}
|
| 169 |
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},
|
| 170 |
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"grasp_9": {
|
| 171 |
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"confidence": 0.9658570885658264,
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"position": [
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"orientation": {
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"xyz": [
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{
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"part_name": "base disc",
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"mask_color": "Green",
|
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"graspable": true,
|
| 352 |
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|
| 353 |
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{
|
| 354 |
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"scenario": "pinch the base edge to slide or reposition the glass on a surface",
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"confidence": 0.58
|
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},
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{
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"scenario": "grasp the base to lift the glass when the stem is inaccessible",
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}
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],
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"support upright standing",
|
| 364 |
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"stabilize the glass",
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"distribute load on the table",
|
| 366 |
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"provide the main resting contact surface"
|
| 367 |
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],
|
| 368 |
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"semantic_description": "Flat round silver-colored metallic base with a smooth glossy finish, broad circular shape at the bottom, attached centrally to the stem.",
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},
|
| 389 |
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{
|
| 390 |
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"part_name": "rim",
|
| 391 |
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|
| 392 |
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|
| 393 |
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|
| 394 |
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|
| 395 |
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"define drinking edge",
|
| 396 |
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"contact lips while sipping",
|
| 397 |
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"retain liquid boundary",
|
| 398 |
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"provide the opening outline"
|
| 399 |
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],
|
| 400 |
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"semantic_description": "Thin circular lip around the top opening of the bowl, appearing as a narrow reflective metallic edge.",
|
| 401 |
+
"id": 3,
|
| 402 |
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"grasp_group": {}
|
| 403 |
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},
|
| 404 |
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{
|
| 405 |
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"part_name": "base edge ring",
|
| 406 |
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|
| 407 |
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|
| 408 |
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|
| 409 |
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"functional_labels": [
|
| 410 |
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"define the outer perimeter of the base",
|
| 411 |
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"provide a protective outer border",
|
| 412 |
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"visually separate the base edge from the main base surface"
|
| 413 |
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],
|
| 414 |
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"semantic_description": "Thin narrow band around the outer perimeter of the round base, visible as a slim reflective metallic edge ring.",
|
| 415 |
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"id": 2,
|
| 416 |
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|
| 417 |
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}
|
| 418 |
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],
|
| 419 |
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"quality_check": {
|
| 420 |
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"success": false,
|
| 421 |
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"message": "Base edge ring function is unsupported and graspability for rim/base edge is too strict."
|
| 422 |
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}
|
| 423 |
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}
|
dataset/kitchen_supplies/ware/4c5408c550e05b1da7a692cdc8d4c583/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
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|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:054b34a547c96e37c71198325aa39468ba5b6631e20a69f9c3df5b6bfb673b48
|
| 3 |
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size 3785260
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