Add asset kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684
Browse files
.gitattributes
CHANGED
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@@ -7652,3 +7652,4 @@ dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/affordance/mesh_p
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| 7652 |
dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7653 |
dataset/kitchen_supplies/ware/c8a2ce15ccd45338b500f32a71f54408/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7654 |
dataset/kitchen_supplies/ware/d01ee849141f5c0aa655935986ab4d79/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7652 |
dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7653 |
dataset/kitchen_supplies/ware/c8a2ce15ccd45338b500f32a71f54408/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7654 |
dataset/kitchen_supplies/ware/d01ee849141f5c0aa655935986ab4d79/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7655 |
+
dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,385 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "cup body",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the cup body around the sidewalls to pick up or reposition the cup",
|
| 10 |
+
"confidence": 0.84
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "stabilize the cup by clamping the ribbed lower body during placement",
|
| 14 |
+
"confidence": 0.78
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "hold the body when the handle is obstructed or not preferred",
|
| 18 |
+
"confidence": 0.72
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain beverages",
|
| 23 |
+
"provide the main structure",
|
| 24 |
+
"support standing on a surface",
|
| 25 |
+
"provide an external gripping surface",
|
| 26 |
+
"add grip through the ribbed lower section"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large white rigid cup body with a smooth upper exterior, vertically ribbed lower section, tapered cylindrical form, dark interior, and a small printed logo on one side.",
|
| 29 |
+
"id": 2,
|
| 30 |
+
"grasp_group": {
|
| 31 |
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"grasp_20": {
|
| 32 |
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"confidence": 0.9689314961433411,
|
| 33 |
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"position": [
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| 34 |
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| 35 |
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| 36 |
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| 37 |
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],
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| 38 |
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"orientation": {
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| 39 |
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"w": 0.14501561027690812,
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| 40 |
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"xyz": [
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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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}
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| 46 |
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},
|
| 47 |
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"grasp_23": {
|
| 48 |
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"confidence": 0.9545872211456299,
|
| 49 |
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"position": [
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| 50 |
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| 51 |
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| 52 |
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| 53 |
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],
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| 54 |
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"orientation": {
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| 55 |
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"w": 0.0745119832205198,
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| 56 |
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"xyz": [
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| 59 |
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|
| 60 |
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]
|
| 61 |
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}
|
| 62 |
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},
|
| 63 |
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"grasp_24": {
|
| 64 |
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"confidence": 0.9530432820320129,
|
| 65 |
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"position": [
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| 66 |
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| 67 |
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| 68 |
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| 69 |
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],
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| 70 |
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"orientation": {
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| 71 |
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| 72 |
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| 75 |
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| 76 |
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| 77 |
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}
|
| 78 |
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},
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| 79 |
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"grasp_25": {
|
| 80 |
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"confidence": 0.9527122974395752,
|
| 81 |
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"position": [
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| 83 |
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| 84 |
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|
| 85 |
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],
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| 86 |
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"orientation": {
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| 88 |
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"xyz": [
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| 91 |
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| 92 |
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]
|
| 93 |
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}
|
| 94 |
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},
|
| 95 |
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"grasp_27": {
|
| 96 |
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"confidence": 0.9477264285087585,
|
| 97 |
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"position": [
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| 98 |
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|
| 99 |
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|
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| 101 |
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],
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"orientation": {
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| 108 |
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"grasp_28": {
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| 112 |
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| 113 |
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| 124 |
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]
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}
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},
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"grasp_29": {
|
| 128 |
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| 129 |
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| 133 |
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],
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| 140 |
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]
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}
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| 142 |
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},
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"grasp_30": {
|
| 144 |
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"confidence": 0.946208655834198,
|
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},
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"grasp_32": {
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"grasp_33": {
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"confidence": 0.9415527582168579,
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}
|
| 287 |
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|
| 288 |
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},
|
| 289 |
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{
|
| 290 |
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"part_name": "side handle",
|
| 291 |
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"mask_color": "Red",
|
| 292 |
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"graspable": true,
|
| 293 |
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|
| 294 |
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{
|
| 295 |
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"scenario": "grasp the side handle to lift and carry the cup",
|
| 296 |
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"confidence": 0.94
|
| 297 |
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},
|
| 298 |
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{
|
| 299 |
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"scenario": "pinch or hook the handle to rotate or reorient the cup",
|
| 300 |
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"confidence": 0.88
|
| 301 |
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},
|
| 302 |
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{
|
| 303 |
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"scenario": "hold the handle while stabilizing the cup during pouring or placement",
|
| 304 |
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"confidence": 0.84
|
| 305 |
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}
|
| 306 |
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],
|
| 307 |
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"functional_labels": [
|
| 308 |
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"provide a side handhold",
|
| 309 |
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"improve carrying control",
|
| 310 |
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"aid reorientation of the cup",
|
| 311 |
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"connect the grip region to the cup body"
|
| 312 |
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],
|
| 313 |
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"semantic_description": "White rigid angular side handle attached vertically to the cup body, with a small hole near the top attachment and dark textured grip pads along the inner/side gripping area.",
|
| 314 |
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"id": 0,
|
| 315 |
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"grasp_group": {
|
| 316 |
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"grasp_1": {
|
| 317 |
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|
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],
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|
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]
|
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}
|
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},
|
| 332 |
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"grasp_2": {
|
| 333 |
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|
| 334 |
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|
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|
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|
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],
|
| 339 |
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|
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|
| 341 |
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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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| 357 |
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]
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}
|
| 363 |
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}
|
| 364 |
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}
|
| 365 |
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},
|
| 366 |
+
{
|
| 367 |
+
"part_name": "logo mark",
|
| 368 |
+
"mask_color": "Yellow",
|
| 369 |
+
"graspable": false,
|
| 370 |
+
"grasp_scenarios": [],
|
| 371 |
+
"functional_labels": [
|
| 372 |
+
"brand identification",
|
| 373 |
+
"visual decoration",
|
| 374 |
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"indicate the outward-facing side"
|
| 375 |
+
],
|
| 376 |
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"semantic_description": "Small printed dark gray logo mark on the side of the white cup body, showing a square emblem with fine text beneath it near the upper exterior.",
|
| 377 |
+
"id": 3,
|
| 378 |
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"grasp_group": {}
|
| 379 |
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}
|
| 380 |
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],
|
| 381 |
+
"quality_check": {
|
| 382 |
+
"success": false,
|
| 383 |
+
"message": "Red mask is handle plus front grip panel, not just side handle; body functions also wrongly include standing support."
|
| 384 |
+
}
|
| 385 |
+
}
|
dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:bca0b946c3367fd7c5579028020b4cdf84722f139fc42bbd7c212db3dc719df0
|
| 3 |
+
size 3779436
|