Add asset kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3
Browse files
.gitattributes
CHANGED
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@@ -7371,3 +7371,4 @@ dataset/kitchen_supplies/tableware/ba0ee4e6627f51c4805e8a1d75877d5b/affordance/m
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| 7371 |
dataset/kitchen_supplies/tableware/ba494bf4f07b52ba8695a9755f41a859/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7372 |
dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7373 |
dataset/kitchen_supplies/tableware/bb6d092dcf075bc3b830f0300d6ad807/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7371 |
dataset/kitchen_supplies/tableware/ba494bf4f07b52ba8695a9755f41a859/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7372 |
dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7373 |
dataset/kitchen_supplies/tableware/bb6d092dcf075bc3b830f0300d6ad807/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7374 |
+
dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,455 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "foot ring",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": false,
|
| 7 |
+
"grasp_scenarios": [],
|
| 8 |
+
"functional_labels": [
|
| 9 |
+
"support the colander on a surface",
|
| 10 |
+
"raise the bowl for stability",
|
| 11 |
+
"keep the perforated body off the counter"
|
| 12 |
+
],
|
| 13 |
+
"semantic_description": "Small circular metallic base ring in a warm copper-gold tone with a reflective smooth finish and hard surface, centered on the bottom of the colander.",
|
| 14 |
+
"id": 0,
|
| 15 |
+
"grasp_group": {}
|
| 16 |
+
},
|
| 17 |
+
{
|
| 18 |
+
"part_name": "side handle",
|
| 19 |
+
"mask_color": "Green",
|
| 20 |
+
"graspable": true,
|
| 21 |
+
"grasp_scenarios": [
|
| 22 |
+
{
|
| 23 |
+
"scenario": "grasp one side handle to pull or reposition the colander on a surface",
|
| 24 |
+
"confidence": 0.74
|
| 25 |
+
},
|
| 26 |
+
{
|
| 27 |
+
"scenario": "grasp a side handle to stabilize the colander while another gripper supports the body",
|
| 28 |
+
"confidence": 0.8
|
| 29 |
+
},
|
| 30 |
+
{
|
| 31 |
+
"scenario": "lift the empty or lightly loaded colander by a single handle",
|
| 32 |
+
"confidence": 0.46
|
| 33 |
+
}
|
| 34 |
+
],
|
| 35 |
+
"functional_labels": [
|
| 36 |
+
"provide a side grip",
|
| 37 |
+
"help lift and carry the colander",
|
| 38 |
+
"stabilize during pouring or draining"
|
| 39 |
+
],
|
| 40 |
+
"semantic_description": "Small looped metal handle in matching copper-gold color with a reflective smooth finish and hard surface, mounted near the rim on the side of the bowl.",
|
| 41 |
+
"id": 1,
|
| 42 |
+
"grasp_group": {
|
| 43 |
+
"grasp_2": {
|
| 44 |
+
"confidence": 0.945751965045929,
|
| 45 |
+
"position": [
|
| 46 |
+
0.05003160367959936,
|
| 47 |
+
-0.1406515022390522,
|
| 48 |
+
0.12321330094709992
|
| 49 |
+
],
|
| 50 |
+
"orientation": {
|
| 51 |
+
"w": 0.25592427274137614,
|
| 52 |
+
"xyz": [
|
| 53 |
+
-0.5810490483683446,
|
| 54 |
+
-0.7671767548051269,
|
| 55 |
+
-0.09123922894628565
|
| 56 |
+
]
|
| 57 |
+
}
|
| 58 |
+
},
|
| 59 |
+
"grasp_3": {
|
| 60 |
+
"confidence": 0.9136457443237305,
|
| 61 |
+
"position": [
|
| 62 |
+
0.042346292540969444,
|
| 63 |
+
-0.11928124778205529,
|
| 64 |
+
0.1313482546247542
|
| 65 |
+
],
|
| 66 |
+
"orientation": {
|
| 67 |
+
"w": 0.16071339820134817,
|
| 68 |
+
"xyz": [
|
| 69 |
+
-0.5824279539407513,
|
| 70 |
+
-0.7964469788648582,
|
| 71 |
+
-0.024921716714637904
|
| 72 |
+
]
|
| 73 |
+
}
|
| 74 |
+
},
|
| 75 |
+
"grasp_4": {
|
| 76 |
+
"confidence": 0.834438681602478,
|
| 77 |
+
"position": [
|
| 78 |
+
0.03110064695829351,
|
| 79 |
+
-0.11811951600247994,
|
| 80 |
+
0.1266642608679831
|
| 81 |
+
],
|
| 82 |
+
"orientation": {
|
| 83 |
+
"w": 0.12948527490309958,
|
| 84 |
+
"xyz": [
|
| 85 |
+
-0.5810881251575555,
|
| 86 |
+
-0.800711265074003,
|
| 87 |
+
-0.06657044665416814
|
| 88 |
+
]
|
| 89 |
+
}
|
| 90 |
+
},
|
| 91 |
+
"grasp_5": {
|
| 92 |
+
"confidence": 0.8332324624061584,
|
| 93 |
+
"position": [
|
| 94 |
+
0.0543901896035095,
|
| 95 |
+
-0.12504597805673257,
|
| 96 |
+
0.11960383737459779
|
| 97 |
+
],
|
| 98 |
+
"orientation": {
|
| 99 |
+
"w": 0.2388509671613464,
|
| 100 |
+
"xyz": [
|
| 101 |
+
-0.5749682559541376,
|
| 102 |
+
-0.782487631489291,
|
| 103 |
+
-0.008650242622379269
|
| 104 |
+
]
|
| 105 |
+
}
|
| 106 |
+
},
|
| 107 |
+
"grasp_6": {
|
| 108 |
+
"confidence": 0.7909174561500549,
|
| 109 |
+
"position": [
|
| 110 |
+
0.003744723408090067,
|
| 111 |
+
-0.12880419992143288,
|
| 112 |
+
0.12397640431299806
|
| 113 |
+
],
|
| 114 |
+
"orientation": {
|
| 115 |
+
"w": 0.1988477232988729,
|
| 116 |
+
"xyz": [
|
| 117 |
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-0.7717013041014186,
|
| 118 |
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0.601634233568286,
|
| 119 |
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|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
},
|
| 123 |
+
"grasp_8": {
|
| 124 |
+
"confidence": 0.9461676478385925,
|
| 125 |
+
"position": [
|
| 126 |
+
-0.005405568152127671,
|
| 127 |
+
-0.1343050529831089,
|
| 128 |
+
0.14091082895174623
|
| 129 |
+
],
|
| 130 |
+
"orientation": {
|
| 131 |
+
"w": 0.23136374125261727,
|
| 132 |
+
"xyz": [
|
| 133 |
+
-0.7600947129111152,
|
| 134 |
+
0.6071071690466947,
|
| 135 |
+
0.012154502469020462
|
| 136 |
+
]
|
| 137 |
+
}
|
| 138 |
+
},
|
| 139 |
+
"grasp_14": {
|
| 140 |
+
"confidence": 0.9584867358207703,
|
| 141 |
+
"position": [
|
| 142 |
+
0.08428872133845289,
|
| 143 |
+
-0.12676443957025185,
|
| 144 |
+
0.12250874424353242
|
| 145 |
+
],
|
| 146 |
+
"orientation": {
|
| 147 |
+
"w": 0.06673981307554334,
|
| 148 |
+
"xyz": [
|
| 149 |
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0.7132159844827093,
|
| 150 |
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-0.5828464075255394,
|
| 151 |
+
-0.3836128544034652
|
| 152 |
+
]
|
| 153 |
+
}
|
| 154 |
+
},
|
| 155 |
+
"grasp_16": {
|
| 156 |
+
"confidence": 0.8218035101890564,
|
| 157 |
+
"position": [
|
| 158 |
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-0.036063666089830804,
|
| 159 |
+
-0.13613834284478799,
|
| 160 |
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0.14411194110289216
|
| 161 |
+
],
|
| 162 |
+
"orientation": {
|
| 163 |
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"w": 0.20868594840113572,
|
| 164 |
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"xyz": [
|
| 165 |
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-0.609068689498558,
|
| 166 |
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0.7545205400383969,
|
| 167 |
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0.12721737724302198
|
| 168 |
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]
|
| 169 |
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}
|
| 170 |
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}
|
| 171 |
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}
|
| 172 |
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},
|
| 173 |
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{
|
| 174 |
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"part_name": "side handle",
|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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{
|
| 179 |
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"scenario": "grasp one side handle to pull or reposition the colander on a surface",
|
| 180 |
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"confidence": 0.76
|
| 181 |
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},
|
| 182 |
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{
|
| 183 |
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"scenario": "grasp a side handle to stabilize the colander while another gripper supports the body",
|
| 184 |
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"confidence": 0.82
|
| 185 |
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},
|
| 186 |
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{
|
| 187 |
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"scenario": "lift the empty or lightly loaded colander by a single handle",
|
| 188 |
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|
| 189 |
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}
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| 190 |
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],
|
| 191 |
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|
| 192 |
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"provide a side grip",
|
| 193 |
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"help lift and carry the colander",
|
| 194 |
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"stabilize during pouring or draining"
|
| 195 |
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],
|
| 196 |
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"semantic_description": "Small looped metal handle in matching copper-gold color with a reflective smooth finish and hard surface, mounted near the rim on the opposite side of the bowl.",
|
| 197 |
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},
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|
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}
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| 263 |
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}
|
| 264 |
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},
|
| 265 |
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{
|
| 266 |
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"part_name": "colander bowl",
|
| 267 |
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|
| 268 |
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|
| 269 |
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|
| 270 |
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{
|
| 271 |
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"scenario": "grasp the bowl sides to pick up the colander",
|
| 272 |
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"confidence": 0.72
|
| 273 |
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},
|
| 274 |
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{
|
| 275 |
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"scenario": "hold the bowl body to stabilize it during washing or loading",
|
| 276 |
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"confidence": 0.79
|
| 277 |
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},
|
| 278 |
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{
|
| 279 |
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"scenario": "grasp the rim-adjacent bowl wall when handles are inaccessible",
|
| 280 |
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"confidence": 0.63
|
| 281 |
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}
|
| 282 |
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],
|
| 283 |
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| 284 |
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"contain food items",
|
| 285 |
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"drain water through perforations",
|
| 286 |
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"support rinsing and washing",
|
| 287 |
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"provide the main structure"
|
| 288 |
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],
|
| 289 |
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"semantic_description": "Large perforated metal bowl in a copper-gold color with a reflective smooth finish and hard surface, rounded and tapering downward with many drain holes across the sides and bottom.",
|
| 290 |
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"id": 3,
|
| 291 |
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| 292 |
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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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],
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}
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| 387 |
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},
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],
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]
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}
|
| 403 |
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},
|
| 404 |
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|
| 405 |
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|
| 406 |
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0.02247449140304525,
|
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0.12372946686809883,
|
| 409 |
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|
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],
|
| 411 |
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"orientation": {
|
| 412 |
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|
| 413 |
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"xyz": [
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| 414 |
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0.8226552985223448,
|
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0.5234213156671298,
|
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|
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]
|
| 418 |
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}
|
| 419 |
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}
|
| 420 |
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}
|
| 421 |
+
},
|
| 422 |
+
{
|
| 423 |
+
"part_name": "rim",
|
| 424 |
+
"mask_color": "Orange",
|
| 425 |
+
"graspable": true,
|
| 426 |
+
"grasp_scenarios": [
|
| 427 |
+
{
|
| 428 |
+
"scenario": "grasp the rim to pick up or reposition the colander",
|
| 429 |
+
"confidence": 0.68
|
| 430 |
+
},
|
| 431 |
+
{
|
| 432 |
+
"scenario": "hold the rim to tilt the colander for draining",
|
| 433 |
+
"confidence": 0.77
|
| 434 |
+
},
|
| 435 |
+
{
|
| 436 |
+
"scenario": "pinch the rim to stabilize the bowl during loading",
|
| 437 |
+
"confidence": 0.71
|
| 438 |
+
}
|
| 439 |
+
],
|
| 440 |
+
"functional_labels": [
|
| 441 |
+
"reinforce the opening",
|
| 442 |
+
"provide an edge for gripping",
|
| 443 |
+
"help control pouring angle",
|
| 444 |
+
"protect the bowl lip"
|
| 445 |
+
],
|
| 446 |
+
"semantic_description": "Circular rolled metal rim in the same copper-gold tone with a reflective smooth finish and hard surface, forming the top edge around the colander opening.",
|
| 447 |
+
"id": 4,
|
| 448 |
+
"grasp_group": {}
|
| 449 |
+
}
|
| 450 |
+
],
|
| 451 |
+
"quality_check": {
|
| 452 |
+
"success": true,
|
| 453 |
+
"message": "YES"
|
| 454 |
+
}
|
| 455 |
+
}
|
dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:dc3b82af1919e9bd4cf06554bb7d367703dd881034b776726734259219b6c892
|
| 3 |
+
size 1395956
|