Add asset kitchen_supplies/ware/6032cdcee4405cb898cfeee0abb05000
Browse files
.gitattributes
CHANGED
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@@ -7568,3 +7568,4 @@ dataset/kitchen_supplies/ware/5ce46fe01bd655359d018bf28776016f/affordance/mesh_p
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| 7568 |
dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7569 |
dataset/kitchen_supplies/ware/5e3f3b45299d5204aeea794409cf6091/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7570 |
dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7568 |
dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7569 |
dataset/kitchen_supplies/ware/5e3f3b45299d5204aeea794409cf6091/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7570 |
dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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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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dataset/kitchen_supplies/ware/6032cdcee4405cb898cfeee0abb05000/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,999 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "thermos body",
|
| 5 |
+
"mask_color": "Magenta",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the cylindrical body to lift and carry the thermos",
|
| 10 |
+
"confidence": 0.91
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize the thermos while opening or closing the lid",
|
| 14 |
+
"confidence": 0.88
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"contain liquid",
|
| 19 |
+
"main grasp surface",
|
| 20 |
+
"support attached parts",
|
| 21 |
+
"provide insulated side wall"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large cylindrical body with a pink-to-white gradient exterior, mostly matte and smooth, forming the central vessel.",
|
| 24 |
+
"id": 7,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_97": {
|
| 27 |
+
"confidence": 0.9239941239356995,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.01316559687256813,
|
| 30 |
+
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|
| 31 |
+
-0.06816555745899677
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.08363368240867813,
|
| 35 |
+
"xyz": [
|
| 36 |
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0.049928738275594665,
|
| 37 |
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0.5226108692340243,
|
| 38 |
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| 39 |
+
]
|
| 40 |
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}
|
| 41 |
+
},
|
| 42 |
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"grasp_98": {
|
| 43 |
+
"confidence": 0.9217100739479065,
|
| 44 |
+
"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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],
|
| 49 |
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"orientation": {
|
| 50 |
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|
| 51 |
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| 52 |
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| 53 |
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|
| 54 |
+
0.008925126147950569
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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_99": {
|
| 59 |
+
"confidence": 0.9151480197906494,
|
| 60 |
+
"position": [
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| 61 |
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| 62 |
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| 63 |
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| 64 |
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],
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| 65 |
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"orientation": {
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| 66 |
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| 67 |
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| 68 |
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| 69 |
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| 70 |
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0.86480015926463
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| 71 |
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]
|
| 72 |
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}
|
| 73 |
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},
|
| 74 |
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"grasp_100": {
|
| 75 |
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"confidence": 0.9112592339515686,
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| 76 |
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| 77 |
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| 79 |
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| 80 |
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],
|
| 81 |
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"orientation": {
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| 82 |
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| 83 |
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| 84 |
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| 85 |
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| 86 |
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0.19080660438554065
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| 87 |
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]
|
| 88 |
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}
|
| 89 |
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},
|
| 90 |
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|
| 91 |
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"confidence": 0.9095133543014526,
|
| 92 |
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0.011872117407619953,
|
| 94 |
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| 95 |
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| 96 |
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],
|
| 97 |
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| 98 |
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| 99 |
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0.03582590565561366
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| 103 |
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]
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| 104 |
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}
|
| 105 |
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},
|
| 106 |
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|
| 107 |
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|
| 108 |
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| 112 |
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],
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|
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| 115 |
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0.10932053267078978,
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| 119 |
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]
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| 120 |
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}
|
| 121 |
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},
|
| 122 |
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|
| 123 |
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"confidence": 0.9079652428627014,
|
| 124 |
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|
| 125 |
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0.024510431103408337,
|
| 126 |
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|
| 127 |
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0.06148144043982029
|
| 128 |
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],
|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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| 134 |
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0.07447742961865322
|
| 135 |
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]
|
| 136 |
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}
|
| 137 |
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},
|
| 138 |
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|
| 139 |
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"confidence": 0.9060719609260559,
|
| 140 |
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"position": [
|
| 141 |
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0.011747585609555244,
|
| 142 |
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|
| 143 |
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-0.03838700242340565
|
| 144 |
+
],
|
| 145 |
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"orientation": {
|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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0.04803962603071578
|
| 151 |
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]
|
| 152 |
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}
|
| 153 |
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},
|
| 154 |
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"grasp_108": {
|
| 155 |
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"confidence": 0.8997109532356262,
|
| 156 |
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"position": [
|
| 157 |
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|
| 158 |
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| 159 |
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|
| 160 |
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],
|
| 161 |
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"orientation": {
|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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0.04992370671466062,
|
| 166 |
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-0.06362000816979609
|
| 167 |
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]
|
| 168 |
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}
|
| 169 |
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},
|
| 170 |
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"grasp_111": {
|
| 171 |
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"confidence": 0.8948302865028381,
|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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],
|
| 177 |
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"orientation": {
|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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0.1834062018504512,
|
| 182 |
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|
| 183 |
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]
|
| 184 |
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}
|
| 185 |
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},
|
| 186 |
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"grasp_113": {
|
| 187 |
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"confidence": 0.8885180354118347,
|
| 188 |
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"position": [
|
| 189 |
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0.013172921724617481,
|
| 190 |
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|
| 191 |
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0.06771473400294781
|
| 192 |
+
],
|
| 193 |
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"orientation": {
|
| 194 |
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"w": 0.5062304446991208,
|
| 195 |
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"xyz": [
|
| 196 |
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-0.8602014587253939,
|
| 197 |
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|
| 198 |
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0.04808212701154028
|
| 199 |
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]
|
| 200 |
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}
|
| 201 |
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}
|
| 202 |
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}
|
| 203 |
+
},
|
| 204 |
+
{
|
| 205 |
+
"part_name": "left handle",
|
| 206 |
+
"mask_color": "Red",
|
| 207 |
+
"graspable": true,
|
| 208 |
+
"grasp_scenarios": [
|
| 209 |
+
{
|
| 210 |
+
"scenario": "grasp the side handle to lift and reposition the thermos",
|
| 211 |
+
"confidence": 0.86
|
| 212 |
+
},
|
| 213 |
+
{
|
| 214 |
+
"scenario": "hold the handle to stabilize the thermos during drinking or pouring",
|
| 215 |
+
"confidence": 0.79
|
| 216 |
+
}
|
| 217 |
+
],
|
| 218 |
+
"functional_labels": [
|
| 219 |
+
"provide a side grip",
|
| 220 |
+
"help lift the thermos",
|
| 221 |
+
"stabilize during use"
|
| 222 |
+
],
|
| 223 |
+
"semantic_description": "Curved off-white plastic side handle with a matte smooth hard surface, medium-sized and mounted high on the left side of the thermos when viewed from the front.",
|
| 224 |
+
"id": 0,
|
| 225 |
+
"grasp_group": {}
|
| 226 |
+
},
|
| 227 |
+
{
|
| 228 |
+
"part_name": "right handle",
|
| 229 |
+
"mask_color": "Green",
|
| 230 |
+
"graspable": true,
|
| 231 |
+
"grasp_scenarios": [
|
| 232 |
+
{
|
| 233 |
+
"scenario": "grasp the side handle to lift and reposition the thermos",
|
| 234 |
+
"confidence": 0.86
|
| 235 |
+
},
|
| 236 |
+
{
|
| 237 |
+
"scenario": "hold the handle to stabilize the thermos during drinking or pouring",
|
| 238 |
+
"confidence": 0.79
|
| 239 |
+
}
|
| 240 |
+
],
|
| 241 |
+
"functional_labels": [
|
| 242 |
+
"provide a side grip",
|
| 243 |
+
"help lift the thermos",
|
| 244 |
+
"stabilize during use"
|
| 245 |
+
],
|
| 246 |
+
"semantic_description": "Curved off-white plastic side handle with a matte smooth hard surface, medium-sized and mounted high on the right side of the thermos when viewed from the front.",
|
| 247 |
+
"id": 1,
|
| 248 |
+
"grasp_group": {
|
| 249 |
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"grasp_38": {
|
| 250 |
+
"confidence": 0.130562424659729,
|
| 251 |
+
"position": [
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| 252 |
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|
| 253 |
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|
| 254 |
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|
| 255 |
+
],
|
| 256 |
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"orientation": {
|
| 257 |
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"w": 0.5092919916861876,
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| 258 |
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| 261 |
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0.5337258858825693
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| 262 |
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]
|
| 263 |
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}
|
| 264 |
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}
|
| 265 |
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}
|
| 266 |
+
},
|
| 267 |
+
{
|
| 268 |
+
"part_name": "lid collar",
|
| 269 |
+
"mask_color": "Cyan",
|
| 270 |
+
"graspable": true,
|
| 271 |
+
"grasp_scenarios": [
|
| 272 |
+
{
|
| 273 |
+
"scenario": "grasp the upper collar to steady the thermos while manipulating the straw or spout area",
|
| 274 |
+
"confidence": 0.58
|
| 275 |
+
},
|
| 276 |
+
{
|
| 277 |
+
"scenario": "grasp near the collar for a short pickup when the body is obstructed",
|
| 278 |
+
"confidence": 0.41
|
| 279 |
+
}
|
| 280 |
+
],
|
| 281 |
+
"functional_labels": [
|
| 282 |
+
"connect lid to body",
|
| 283 |
+
"support top assembly",
|
| 284 |
+
"help define the upper rim area"
|
| 285 |
+
],
|
| 286 |
+
"semantic_description": "Light aqua plastic collar around the top, matte and smooth with a hard rounded form, sitting above the body and below the top cap assembly.",
|
| 287 |
+
"id": 6,
|
| 288 |
+
"grasp_group": {
|
| 289 |
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|
| 290 |
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"confidence": 0.9689974188804626,
|
| 291 |
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0.08457442931830883
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],
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| 296 |
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0.011524278548394638
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]
|
| 303 |
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}
|
| 304 |
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},
|
| 305 |
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"grasp_75": {
|
| 306 |
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"confidence": 0.9674758911132812,
|
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"position": [
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0.08298421464860439
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],
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| 312 |
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"orientation": {
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]
|
| 319 |
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}
|
| 320 |
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},
|
| 321 |
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"grasp_76": {
|
| 322 |
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"confidence": 0.9656717777252197,
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],
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]
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| 335 |
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}
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},
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| 795 |
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{
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| 796 |
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"part_name": "straw",
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| 797 |
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"mask_color": "Yellow",
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| 798 |
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"graspable": true,
|
| 799 |
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"grasp_scenarios": [
|
| 800 |
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{
|
| 801 |
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"scenario": "delicately pinch the straw to orient or inspect the top mechanism",
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| 802 |
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"confidence": 0.27
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| 803 |
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},
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| 804 |
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{
|
| 805 |
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"scenario": "pull or nudge the straw during opening-related manipulation",
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"confidence": 0.23
|
| 807 |
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}
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],
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"provide a drinking conduit",
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"indicate drinking point",
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| 812 |
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"enable sipping"
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| 813 |
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],
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| 814 |
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"semantic_description": "Short off-white tube-like straw with a smooth hard plastic surface, protruding upward from the top at an angle.",
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| 815 |
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"id": 3,
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}
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| 865 |
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}
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| 866 |
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},
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| 867 |
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{
|
| 868 |
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"part_name": "front button",
|
| 869 |
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"mask_color": "Purple",
|
| 870 |
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"graspable": false,
|
| 871 |
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"grasp_scenarios": [],
|
| 872 |
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"functional_labels": [
|
| 873 |
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"press to actuate lid",
|
| 874 |
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"release or lock top mechanism",
|
| 875 |
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"provide control input"
|
| 876 |
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],
|
| 877 |
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"semantic_description": "Small round pink button on the front upper section, smooth and hard, positioned in the lid area for thumb pressing.",
|
| 878 |
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"id": 5,
|
| 879 |
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"grasp_group": {}
|
| 880 |
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},
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| 881 |
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{
|
| 882 |
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"part_name": "base",
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| 883 |
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"mask_color": "Blue",
|
| 884 |
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"graspable": true,
|
| 885 |
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"grasp_scenarios": [
|
| 886 |
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{
|
| 887 |
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"scenario": "grasp the lower base to pick up the thermos from a shelf",
|
| 888 |
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"confidence": 0.62
|
| 889 |
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},
|
| 890 |
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{
|
| 891 |
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"scenario": "hold the base to stabilize the thermos while another gripper manipulates the lid",
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| 892 |
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"confidence": 0.68
|
| 893 |
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}
|
| 894 |
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],
|
| 895 |
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"functional_labels": [
|
| 896 |
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"support upright standing",
|
| 897 |
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"protect the bottom",
|
| 898 |
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"provide a stable contact surface"
|
| 899 |
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],
|
| 900 |
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"semantic_description": "Wide light aqua bottom base with a matte smooth hard finish, circular and slightly thicker than the wall, forming the standing support ring at the bottom.",
|
| 901 |
+
"id": 2,
|
| 902 |
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"grasp_group": {
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| 903 |
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| 905 |
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"orientation": {
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| 918 |
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},
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| 919 |
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|
| 920 |
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|
| 921 |
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|
| 922 |
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|
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| 924 |
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],
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| 926 |
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"orientation": {
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}
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| 934 |
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},
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| 937 |
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0.011392789892852306,
|
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],
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| 942 |
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"orientation": {
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| 944 |
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"xyz": [
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|
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|
| 947 |
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0.00892781366821412
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]
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}
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| 950 |
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}
|
| 951 |
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}
|
| 952 |
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},
|
| 953 |
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{
|
| 954 |
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"part_name": "front bear graphic",
|
| 955 |
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"mask_color": "Maroon",
|
| 956 |
+
"graspable": false,
|
| 957 |
+
"grasp_scenarios": [],
|
| 958 |
+
"functional_labels": [
|
| 959 |
+
"decorate the thermos",
|
| 960 |
+
"provide visual identity",
|
| 961 |
+
"indicate front orientation"
|
| 962 |
+
],
|
| 963 |
+
"semantic_description": "Small cartoon bear face graphic printed on the front, flat and smooth over the body surface, adding decorative contrast and clear front-side orientation.",
|
| 964 |
+
"id": 12,
|
| 965 |
+
"grasp_group": {}
|
| 966 |
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},
|
| 967 |
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{
|
| 968 |
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"part_name": "small lower graphic",
|
| 969 |
+
"mask_color": "Orange",
|
| 970 |
+
"graspable": false,
|
| 971 |
+
"grasp_scenarios": [],
|
| 972 |
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"functional_labels": [
|
| 973 |
+
"decorate the thermos",
|
| 974 |
+
"add visual detail"
|
| 975 |
+
],
|
| 976 |
+
"semantic_description": "Tiny orange decorative print near the lower front side close to the base, flat and smooth on the body surface, serving as a small visual accent.",
|
| 977 |
+
"id": 4,
|
| 978 |
+
"grasp_group": {}
|
| 979 |
+
},
|
| 980 |
+
{
|
| 981 |
+
"part_name": "lid hinge housing",
|
| 982 |
+
"mask_color": "Teal",
|
| 983 |
+
"graspable": false,
|
| 984 |
+
"grasp_scenarios": [],
|
| 985 |
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"functional_labels": [
|
| 986 |
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"support lid mechanism",
|
| 987 |
+
"connect moving top parts",
|
| 988 |
+
"protect hinge area"
|
| 989 |
+
],
|
| 990 |
+
"semantic_description": "Light aqua-teal plastic section at the rear top rim with a matte smooth hard finish, compact and integrated behind the top cap where the lid mechanism appears mounted.",
|
| 991 |
+
"id": 10,
|
| 992 |
+
"grasp_group": {}
|
| 993 |
+
}
|
| 994 |
+
],
|
| 995 |
+
"quality_check": {
|
| 996 |
+
"success": false,
|
| 997 |
+
"message": "Several part descriptions use wrong real colors; top cap/collar/button/graphics descriptions mismatch visible RGB appearance."
|
| 998 |
+
}
|
| 999 |
+
}
|
dataset/kitchen_supplies/ware/6032cdcee4405cb898cfeee0abb05000/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:578a776bc66f9d59281c0e033fef9c43e96c98b5a73da126c9bd5eef3d06c1e3
|
| 3 |
+
size 3796436
|