Add asset kitchen_supplies/tableware/f58ea92fd31e54b28a25ff061fc91ea9
Browse files
.gitattributes
CHANGED
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@@ -8468,3 +8468,4 @@ dataset/kitchen_supplies/tableware/28b78caba0455c25b0e3ac3df432c637/affordance/m
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| 8468 |
dataset/kitchen_supplies/tableware/291b35407cb0518eb536f43ccb5e9907/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8469 |
dataset/kitchen_supplies/tableware/296122b6b55d5ef19926256abd615b27/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8470 |
dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8468 |
dataset/kitchen_supplies/tableware/291b35407cb0518eb536f43ccb5e9907/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8469 |
dataset/kitchen_supplies/tableware/296122b6b55d5ef19926256abd615b27/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8470 |
dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8471 |
+
dataset/kitchen_supplies/tableware/f58ea92fd31e54b28a25ff061fc91ea9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/tableware/f58ea92fd31e54b28a25ff061fc91ea9/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,379 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "spoon bowl",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the bowl to reorient the spoon during sorting or placement",
|
| 10 |
+
"confidence": 0.31
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pinch the bowl to stabilize the spoon while another tool manipulates the handle",
|
| 14 |
+
"confidence": 0.24
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"scoop food",
|
| 19 |
+
"hold a small portion",
|
| 20 |
+
"contact eating surface",
|
| 21 |
+
"transfer contents"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Oval shallow spoon bowl in a darker blue than the handle, with a smooth slightly glossy surface, located at the scooping end of the spoon.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_2": {
|
| 27 |
+
"confidence": 0.9777488708496094,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.05069818440824747,
|
| 30 |
+
-0.10110758081737004,
|
| 31 |
+
-0.015704925754107535
|
| 32 |
+
],
|
| 33 |
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"orientation": {
|
| 34 |
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"w": 0.5271036031728239,
|
| 35 |
+
"xyz": [
|
| 36 |
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|
| 37 |
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0.45789529450233757,
|
| 38 |
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|
| 39 |
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]
|
| 40 |
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}
|
| 41 |
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},
|
| 42 |
+
"grasp_3": {
|
| 43 |
+
"confidence": 0.9777143001556396,
|
| 44 |
+
"position": [
|
| 45 |
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|
| 46 |
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0.09383610799250164,
|
| 47 |
+
-0.02008686459157616
|
| 48 |
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],
|
| 49 |
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"orientation": {
|
| 50 |
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"w": 0.5517900399304868,
|
| 51 |
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"xyz": [
|
| 52 |
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|
| 53 |
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-0.4529863463656103,
|
| 54 |
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0.5382590602317419
|
| 55 |
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]
|
| 56 |
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}
|
| 57 |
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},
|
| 58 |
+
"grasp_13": {
|
| 59 |
+
"confidence": 0.974653959274292,
|
| 60 |
+
"position": [
|
| 61 |
+
-0.05072182510048151,
|
| 62 |
+
0.09647746547398128,
|
| 63 |
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-0.022555064992047846
|
| 64 |
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],
|
| 65 |
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"orientation": {
|
| 66 |
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"w": 0.5511262631661996,
|
| 67 |
+
"xyz": [
|
| 68 |
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0.4447031831936377,
|
| 69 |
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-0.443703174538742,
|
| 70 |
+
0.5492052565390733
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
}
|
| 74 |
+
}
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"part_name": "spoon handle",
|
| 78 |
+
"mask_color": "Green",
|
| 79 |
+
"graspable": true,
|
| 80 |
+
"grasp_scenarios": [
|
| 81 |
+
{
|
| 82 |
+
"scenario": "grasp the handle to pick up and carry the spoon",
|
| 83 |
+
"confidence": 0.96
|
| 84 |
+
},
|
| 85 |
+
{
|
| 86 |
+
"scenario": "hold the handle to use the spoon for scooping or stirring",
|
| 87 |
+
"confidence": 0.93
|
| 88 |
+
},
|
| 89 |
+
{
|
| 90 |
+
"scenario": "grasp the handle to place the spoon into a container or drawer",
|
| 91 |
+
"confidence": 0.89
|
| 92 |
+
}
|
| 93 |
+
],
|
| 94 |
+
"functional_labels": [
|
| 95 |
+
"provide main grip",
|
| 96 |
+
"enable controlled manipulation",
|
| 97 |
+
"extend reach from bowl",
|
| 98 |
+
"support scooping motions"
|
| 99 |
+
],
|
| 100 |
+
"semantic_description": "Long light-blue cylindrical handle made of smooth plastic, slightly tapered, with white printed markings on the side, forming the main gripping section of the spoon.",
|
| 101 |
+
"id": 1,
|
| 102 |
+
"grasp_group": {
|
| 103 |
+
"grasp_21": {
|
| 104 |
+
"confidence": 0.9499070048332214,
|
| 105 |
+
"position": [
|
| 106 |
+
0.08143673744052649,
|
| 107 |
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-0.06340114609065495,
|
| 108 |
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0.046916502877138555
|
| 109 |
+
],
|
| 110 |
+
"orientation": {
|
| 111 |
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"w": 0.5004883421187581,
|
| 112 |
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"xyz": [
|
| 113 |
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-0.5061550586298068,
|
| 114 |
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-0.6955573964623103,
|
| 115 |
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-0.09756220709499158
|
| 116 |
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]
|
| 117 |
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}
|
| 118 |
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},
|
| 119 |
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"grasp_22": {
|
| 120 |
+
"confidence": 0.9496883749961853,
|
| 121 |
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"position": [
|
| 122 |
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|
| 123 |
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0.08077109768328228,
|
| 124 |
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0.014560168026946485
|
| 125 |
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],
|
| 126 |
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"orientation": {
|
| 127 |
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"w": 0.28489018918855596,
|
| 128 |
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"xyz": [
|
| 129 |
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0.6604621792801437,
|
| 130 |
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0.3807383386534581,
|
| 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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"grasp_30": {
|
| 136 |
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"confidence": 0.9196992516517639,
|
| 137 |
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"position": [
|
| 138 |
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0.08208890166133642,
|
| 139 |
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0.047691186659903906,
|
| 140 |
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0.06544728518929332
|
| 141 |
+
],
|
| 142 |
+
"orientation": {
|
| 143 |
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"w": 0.4141780674161529,
|
| 144 |
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"xyz": [
|
| 145 |
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0.5883543295204713,
|
| 146 |
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|
| 147 |
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-0.005484776924681488
|
| 148 |
+
]
|
| 149 |
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}
|
| 150 |
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},
|
| 151 |
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"grasp_31": {
|
| 152 |
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"confidence": 0.9179471731185913,
|
| 153 |
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"position": [
|
| 154 |
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0.08154775109142065,
|
| 155 |
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0.02522457554277935,
|
| 156 |
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-0.07830317376647145
|
| 157 |
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],
|
| 158 |
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"orientation": {
|
| 159 |
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"w": 0.640986844026605,
|
| 160 |
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"xyz": [
|
| 161 |
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0.3104524460209433,
|
| 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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"grasp_33": {
|
| 168 |
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"confidence": 0.9115832448005676,
|
| 169 |
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"position": [
|
| 170 |
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0.11167579051107168,
|
| 171 |
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-0.03618400753202877,
|
| 172 |
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|
| 173 |
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],
|
| 174 |
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"orientation": {
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| 175 |
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"w": 0.5032768685729885,
|
| 176 |
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"xyz": [
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| 177 |
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|
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| 179 |
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|
| 180 |
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]
|
| 181 |
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}
|
| 182 |
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},
|
| 183 |
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"grasp_34": {
|
| 184 |
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"confidence": 0.9067674279212952,
|
| 185 |
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"position": [
|
| 186 |
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0.11307371314615011,
|
| 187 |
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|
| 188 |
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0.0450211496790871
|
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],
|
| 190 |
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"orientation": {
|
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"w": 0.5114194586072521,
|
| 192 |
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"xyz": [
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|
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| 195 |
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|
| 196 |
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]
|
| 197 |
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}
|
| 198 |
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},
|
| 199 |
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"grasp_35": {
|
| 200 |
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"confidence": 0.906764566898346,
|
| 201 |
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"position": [
|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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],
|
| 206 |
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"orientation": {
|
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},
|
| 249 |
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{
|
| 250 |
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"part_name": "spoon neck",
|
| 251 |
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"mask_color": "Purple",
|
| 252 |
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"graspable": true,
|
| 253 |
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|
| 254 |
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{
|
| 255 |
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"scenario": "pinch the neck to precisely orient the spoon tip",
|
| 256 |
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|
| 257 |
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},
|
| 258 |
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{
|
| 259 |
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"scenario": "grasp the neck to stabilize the spoon in a constrained space",
|
| 260 |
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|
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|
| 262 |
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{
|
| 263 |
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"scenario": "hold the neck for short-distance pickup when the handle is obstructed",
|
| 264 |
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|
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|
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],
|
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|
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"connect bowl to handle",
|
| 269 |
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"reinforce transition",
|
| 270 |
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"support force transfer between handle and bowl",
|
| 271 |
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"indicate tool orientation"
|
| 272 |
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],
|
| 273 |
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"semantic_description": "Short narrow transition section between the handle and bowl, in the same light-blue plastic, with a ribbed textured area and slightly thicker sections near the handle side.",
|
| 274 |
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"id": 5,
|
| 275 |
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|
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|
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],
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},
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0.05934058444108814
|
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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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},
|
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"grasp_58": {
|
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|
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|
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],
|
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}
|
| 372 |
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}
|
| 373 |
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}
|
| 374 |
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],
|
| 375 |
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"quality_check": {
|
| 376 |
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"success": false,
|
| 377 |
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"message": "Visual descriptions mismatch object appearance; bowl and handle colors/materials are incorrect and neck texture is misdescribed."
|
| 378 |
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}
|
| 379 |
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}
|
dataset/kitchen_supplies/tableware/f58ea92fd31e54b28a25ff061fc91ea9/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
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|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:e81e6b08b4718e25007b4c1349f4e35f90270a9d5865cc0cb4b858692c2c161a
|
| 3 |
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size 3779692
|