Add asset kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea
Browse files
.gitattributes
CHANGED
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@@ -8479,3 +8479,4 @@ dataset/kitchen_supplies/tableware/fecbc7154cbd52349d86f4dd160ea327/affordance/m
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| 8479 |
dataset/kitchen_supplies/utensils/00f7ebc016715d9bac12154a75996db2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8480 |
dataset/kitchen_supplies/utensils/04ebad9112ce5c10b9d4bd4664056e71/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8481 |
dataset/kitchen_supplies/utensils/066afc4bcb2757b09c2daff0ae5e1700/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8479 |
dataset/kitchen_supplies/utensils/00f7ebc016715d9bac12154a75996db2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8480 |
dataset/kitchen_supplies/utensils/04ebad9112ce5c10b9d4bd4664056e71/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8481 |
dataset/kitchen_supplies/utensils/066afc4bcb2757b09c2daff0ae5e1700/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8482 |
+
dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,1076 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "main body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the waisted main body to pick up and move the grinder",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body while pressing the top control with another finger or tool",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the body while another gripper manipulates the upper section",
|
| 18 |
+
"confidence": 0.84
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"contain spices",
|
| 24 |
+
"house internal grinding mechanism",
|
| 25 |
+
"stabilize during operation"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large silver-gray body with a smooth metallic or metal-look finish, hard texture, and a gently waisted cylindrical form making up most of the lower and central portion of the grinder.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9726992845535278,
|
| 32 |
+
"position": [
|
| 33 |
+
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|
| 34 |
+
-0.10265205206815153,
|
| 35 |
+
0.007442296016961336
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.05040031171215692,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.07351183749869818,
|
| 41 |
+
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|
| 42 |
+
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|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9697301387786865,
|
| 48 |
+
"position": [
|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 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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|
| 59 |
+
]
|
| 60 |
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}
|
| 61 |
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},
|
| 62 |
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"grasp_2": {
|
| 63 |
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"confidence": 0.9666529893875122,
|
| 64 |
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|
| 65 |
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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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|
| 71 |
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| 72 |
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| 73 |
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| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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},
|
| 78 |
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|
| 79 |
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"confidence": 0.9664813876152039,
|
| 80 |
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|
| 81 |
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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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|
| 87 |
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|
| 88 |
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|
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|
| 90 |
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| 91 |
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]
|
| 92 |
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}
|
| 93 |
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},
|
| 94 |
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"grasp_4": {
|
| 95 |
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"confidence": 0.9658995866775513,
|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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],
|
| 101 |
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|
| 102 |
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|
| 103 |
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| 107 |
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|
| 108 |
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|
| 109 |
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},
|
| 110 |
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|
| 111 |
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"confidence": 0.9652941823005676,
|
| 112 |
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|
| 113 |
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|
| 114 |
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| 115 |
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|
| 116 |
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],
|
| 117 |
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|
| 118 |
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|
| 119 |
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| 121 |
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| 122 |
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| 123 |
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|
| 124 |
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|
| 125 |
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},
|
| 126 |
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"grasp_6": {
|
| 127 |
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"confidence": 0.9651823043823242,
|
| 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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|
| 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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]
|
| 140 |
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}
|
| 141 |
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},
|
| 142 |
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"grasp_7": {
|
| 143 |
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"confidence": 0.9649190902709961,
|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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0.01343267154879868
|
| 148 |
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],
|
| 149 |
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"orientation": {
|
| 150 |
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"w": 0.4804981690057179,
|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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]
|
| 156 |
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|
| 157 |
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},
|
| 158 |
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"grasp_8": {
|
| 159 |
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"confidence": 0.9648988842964172,
|
| 160 |
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|
| 161 |
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|
| 162 |
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| 163 |
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|
| 164 |
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],
|
| 165 |
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|
| 166 |
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|
| 167 |
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| 168 |
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| 170 |
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| 171 |
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]
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| 172 |
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}
|
| 173 |
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},
|
| 174 |
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"grasp_9": {
|
| 175 |
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|
| 176 |
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| 180 |
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],
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| 181 |
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| 187 |
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]
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| 188 |
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| 189 |
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},
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|
| 191 |
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| 192 |
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],
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| 203 |
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]
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| 204 |
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| 205 |
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},
|
| 206 |
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"grasp_11": {
|
| 207 |
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"confidence": 0.9632521867752075,
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| 208 |
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],
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},
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| 222 |
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|
| 223 |
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| 224 |
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},
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|
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],
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},
|
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"grasp_16": {
|
| 287 |
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],
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| 1035 |
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|
| 1050 |
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|
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|
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|
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"part_name": "base",
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|
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|
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|
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|
| 1064 |
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|
| 1065 |
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|
| 1066 |
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|
| 1067 |
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"semantic_description": "Flat dark bottom base, likely plastic or rubberized, with a matte smooth surface and broad circular shape at the lowest end for stable support.",
|
| 1068 |
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"id": 5,
|
| 1069 |
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"grasp_group": {}
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|
| 1072 |
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"quality_check": {
|
| 1073 |
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"success": false,
|
| 1074 |
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"message": "Top button and outlet are swapped; button description and functions mismatch visible parts."
|
| 1075 |
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}
|
| 1076 |
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}
|
dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/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 sha256:0cb02e2e0cc4965435b404ce0d7efbc7c3e679e8fe067818a9cc852cc0ead49d
|
| 3 |
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size 3785820
|