Add asset kitchen_supplies/tableware/13a13d1f008f5438be08b2b8ea107a71
Browse files
.gitattributes
CHANGED
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@@ -8435,4 +8435,4 @@ dataset/kitchen_supplies/tableware/125add9a32c15940a56463cfbb1264ee/affordance/m
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| 8435 |
dataset/kitchen_supplies/tableware/1328ed114176584e8c6eec439a93e75f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8436 |
dataset/kitchen_supplies/tableware/145c254862ca5b17a09a3864a865a5fe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8437 |
dataset/kitchen_supplies/tableware/14bbaa909af054b186be8fab8e25530d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8438 |
-
dataset/kitchen_supplies/tableware/
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| 8435 |
dataset/kitchen_supplies/tableware/1328ed114176584e8c6eec439a93e75f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8436 |
dataset/kitchen_supplies/tableware/145c254862ca5b17a09a3864a865a5fe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8437 |
dataset/kitchen_supplies/tableware/14bbaa909af054b186be8fab8e25530d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8438 |
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dataset/kitchen_supplies/tableware/13a13d1f008f5438be08b2b8ea107a71/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/tableware/13a13d1f008f5438be08b2b8ea107a71/affordance/affordance_annot.json
ADDED
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "chopstick",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp one chopstick near the middle to pick up and reposition it",
|
| 10 |
+
"confidence": 0.89
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pinch one chopstick near the upper end to assemble or align the pair",
|
| 14 |
+
"confidence": 0.78
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "hold one chopstick as a probing or stirring stick",
|
| 18 |
+
"confidence": 0.56
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"one half of the utensil pair",
|
| 23 |
+
"enable pinching food with the other chopstick",
|
| 24 |
+
"provide a slender grasp surface",
|
| 25 |
+
"support stirring or pointing"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "A long slender light gray stick, likely smooth matte wood or plastic, with a hard surface, tapered rounded tip, and darker rough-textured end sections visible along the utensil length.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
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"confidence": 0.8864538073539734,
|
| 32 |
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"position": [
|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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],
|
| 37 |
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"orientation": {
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| 38 |
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"w": 0.40295078440508875,
|
| 39 |
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"xyz": [
|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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]
|
| 44 |
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}
|
| 45 |
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},
|
| 46 |
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"grasp_2": {
|
| 47 |
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"confidence": 0.874874472618103,
|
| 48 |
+
"position": [
|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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],
|
| 53 |
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"orientation": {
|
| 54 |
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"w": 0.6260092196577002,
|
| 55 |
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"xyz": [
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| 56 |
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| 57 |
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|
| 58 |
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|
| 59 |
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]
|
| 60 |
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}
|
| 61 |
+
},
|
| 62 |
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"grasp_5": {
|
| 63 |
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"confidence": 0.8718794584274292,
|
| 64 |
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"position": [
|
| 65 |
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|
| 66 |
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-0.15800786047475412,
|
| 67 |
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|
| 68 |
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],
|
| 69 |
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"orientation": {
|
| 70 |
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"w": 0.6198971383711654,
|
| 71 |
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"xyz": [
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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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"grasp_8": {
|
| 79 |
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"confidence": 0.8663633465766907,
|
| 80 |
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"position": [
|
| 81 |
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|
| 82 |
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|
| 83 |
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0.00040314886791747995
|
| 84 |
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],
|
| 85 |
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"orientation": {
|
| 86 |
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"w": 0.48591802423196817,
|
| 87 |
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"xyz": [
|
| 88 |
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|
| 89 |
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-0.499022865579529,
|
| 90 |
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-0.5203840413837528
|
| 91 |
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]
|
| 92 |
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}
|
| 93 |
+
},
|
| 94 |
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"grasp_9": {
|
| 95 |
+
"confidence": 0.8655683398246765,
|
| 96 |
+
"position": [
|
| 97 |
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|
| 98 |
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-0.17224648623960093,
|
| 99 |
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-0.001664754392550094
|
| 100 |
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],
|
| 101 |
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"orientation": {
|
| 102 |
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"w": 0.4951521554234532,
|
| 103 |
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"xyz": [
|
| 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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}
|
| 109 |
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},
|
| 110 |
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"grasp_10": {
|
| 111 |
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"confidence": 0.8645827174186707,
|
| 112 |
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"position": [
|
| 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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"orientation": {
|
| 118 |
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"w": 0.5296792443799616,
|
| 119 |
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"xyz": [
|
| 120 |
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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_12": {
|
| 127 |
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"confidence": 0.8536432385444641,
|
| 128 |
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"position": [
|
| 129 |
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|
| 130 |
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-0.15831634431378916,
|
| 131 |
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0.011533199653058546
|
| 132 |
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],
|
| 133 |
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"orientation": {
|
| 134 |
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"w": 0.33659712968934746,
|
| 135 |
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"xyz": [
|
| 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_15": {
|
| 143 |
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"confidence": 0.8392294645309448,
|
| 144 |
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"position": [
|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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],
|
| 149 |
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"orientation": {
|
| 150 |
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"w": 0.5672023165857636,
|
| 151 |
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"xyz": [
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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_18": {
|
| 159 |
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"confidence": 0.8369736671447754,
|
| 160 |
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"position": [
|
| 161 |
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-0.0033875734225148335,
|
| 162 |
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0.17454515368444845,
|
| 163 |
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0.002830361558153527
|
| 164 |
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],
|
| 165 |
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"orientation": {
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| 166 |
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"w": 0.501745119690318,
|
| 167 |
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"xyz": [
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| 168 |
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0.5100291364166479,
|
| 169 |
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0.5033431124609717,
|
| 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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"grasp_19": {
|
| 175 |
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"confidence": 0.8325756192207336,
|
| 176 |
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"position": [
|
| 177 |
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-0.0013965609396109357,
|
| 178 |
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|
| 179 |
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0.00023816938119125552
|
| 180 |
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],
|
| 181 |
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"orientation": {
|
| 182 |
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"w": 0.4518587384235321,
|
| 183 |
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"xyz": [
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| 184 |
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|
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|
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|
| 187 |
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]
|
| 188 |
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}
|
| 189 |
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}
|
| 190 |
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}
|
| 191 |
+
},
|
| 192 |
+
{
|
| 193 |
+
"part_name": "chopstick",
|
| 194 |
+
"mask_color": "Green",
|
| 195 |
+
"graspable": true,
|
| 196 |
+
"grasp_scenarios": [
|
| 197 |
+
{
|
| 198 |
+
"scenario": "grasp one chopstick near the middle to pick up and reposition it",
|
| 199 |
+
"confidence": 0.89
|
| 200 |
+
},
|
| 201 |
+
{
|
| 202 |
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| 382 |
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"quality_check": {
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| 383 |
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"success": true,
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| 384 |
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|
| 385 |
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}
|
| 386 |
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}
|
dataset/kitchen_supplies/tableware/13a13d1f008f5438be08b2b8ea107a71/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f366086024acae635274f38ed2eb1fbb09019e7d76e8c6430386efaf47ce7e3d
|
| 3 |
+
size 111285736
|