Add asset kitchen_supplies/tableware/6765f277e1c557e9860eeda5eddb94c7
Browse files
.gitattributes
CHANGED
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@@ -7270,3 +7270,4 @@ dataset/kitchen_supplies/tableware/645b293a2f035325abd6f6c401907cb7/affordance/m
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| 7270 |
dataset/kitchen_supplies/tableware/66c54631f4e0507abe6bdb7b9ad7e0f8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7271 |
dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7272 |
dataset/kitchen_supplies/tableware/66f30bf042db52c0aaa4727ce4dc7be0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7270 |
dataset/kitchen_supplies/tableware/66c54631f4e0507abe6bdb7b9ad7e0f8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7271 |
dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7272 |
dataset/kitchen_supplies/tableware/66f30bf042db52c0aaa4727ce4dc7be0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7273 |
+
dataset/kitchen_supplies/tableware/6765f277e1c557e9860eeda5eddb94c7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/tableware/6765f277e1c557e9860eeda5eddb94c7/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,437 @@
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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 pick up or reposition the spoon when the handle is obstructed",
|
| 10 |
+
"confidence": 0.43
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pinch the bowl to stabilize the spoon during inspection or handoff",
|
| 14 |
+
"confidence": 0.39
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"scoop food",
|
| 19 |
+
"hold small portions",
|
| 20 |
+
"serve liquids or soft foods",
|
| 21 |
+
"contact eating surface"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Oval light silver or white-toned metal bowl with a glossy reflective finish and smooth hard surface, forming the larger front end of the spoon and showing a small crest-like marking in some views.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_1": {
|
| 27 |
+
"confidence": 0.9750778079032898,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.01075988169759512,
|
| 30 |
+
-0.09313896152298184,
|
| 31 |
+
-0.005986371656035772
|
| 32 |
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],
|
| 33 |
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"orientation": {
|
| 34 |
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"w": 0.4187811144085718,
|
| 35 |
+
"xyz": [
|
| 36 |
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|
| 37 |
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|
| 38 |
+
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|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_3": {
|
| 43 |
+
"confidence": 0.9732060432434082,
|
| 44 |
+
"position": [
|
| 45 |
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|
| 46 |
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|
| 47 |
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-0.012456655615096679
|
| 48 |
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],
|
| 49 |
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"orientation": {
|
| 50 |
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"w": 0.4541944350424375,
|
| 51 |
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"xyz": [
|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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]
|
| 56 |
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}
|
| 57 |
+
},
|
| 58 |
+
"grasp_4": {
|
| 59 |
+
"confidence": 0.9726874232292175,
|
| 60 |
+
"position": [
|
| 61 |
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-0.02422963618300855,
|
| 62 |
+
-0.09492424729387494,
|
| 63 |
+
-0.008035679460590472
|
| 64 |
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],
|
| 65 |
+
"orientation": {
|
| 66 |
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"w": 0.4373125887906252,
|
| 67 |
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"xyz": [
|
| 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 |
+
},
|
| 74 |
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"grasp_6": {
|
| 75 |
+
"confidence": 0.9720926284790039,
|
| 76 |
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"position": [
|
| 77 |
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|
| 78 |
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|
| 79 |
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-0.00404864933443605
|
| 80 |
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],
|
| 81 |
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"orientation": {
|
| 82 |
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"w": 0.4490163784661517,
|
| 83 |
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"xyz": [
|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
+
]
|
| 88 |
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}
|
| 89 |
+
},
|
| 90 |
+
"grasp_7": {
|
| 91 |
+
"confidence": 0.972049355506897,
|
| 92 |
+
"position": [
|
| 93 |
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-0.01476893899962306,
|
| 94 |
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0.09279354807813434,
|
| 95 |
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-0.0135423402498418
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
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"w": 0.37136908560114323,
|
| 99 |
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"xyz": [
|
| 100 |
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|
| 101 |
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|
| 102 |
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-0.6529711291420799
|
| 103 |
+
]
|
| 104 |
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}
|
| 105 |
+
},
|
| 106 |
+
"grasp_8": {
|
| 107 |
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"confidence": 0.9717351794242859,
|
| 108 |
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"position": [
|
| 109 |
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-0.015009379014372826,
|
| 110 |
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-0.09541781100551816,
|
| 111 |
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0.0020615899738913868
|
| 112 |
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],
|
| 113 |
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"orientation": {
|
| 114 |
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"w": 0.358717742552977,
|
| 115 |
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"xyz": [
|
| 116 |
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-0.5908652632676172,
|
| 117 |
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0.40453740578811737,
|
| 118 |
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0.5987898706220789
|
| 119 |
+
]
|
| 120 |
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}
|
| 121 |
+
},
|
| 122 |
+
"grasp_9": {
|
| 123 |
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"confidence": 0.9713587164878845,
|
| 124 |
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"position": [
|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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],
|
| 129 |
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"orientation": {
|
| 130 |
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"w": 0.6020082789977019,
|
| 131 |
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"xyz": [
|
| 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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"grasp_10": {
|
| 139 |
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"confidence": 0.9711525440216064,
|
| 140 |
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"position": [
|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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],
|
| 145 |
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"orientation": {
|
| 146 |
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"w": 0.3985955192143733,
|
| 147 |
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"xyz": [
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| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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]
|
| 152 |
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}
|
| 153 |
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},
|
| 154 |
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"grasp_13": {
|
| 155 |
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"confidence": 0.9696096777915955,
|
| 156 |
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"position": [
|
| 157 |
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-0.015147614292800426,
|
| 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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"w": 0.36408572264343786,
|
| 163 |
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"xyz": [
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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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}
|
| 169 |
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},
|
| 170 |
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"grasp_15": {
|
| 171 |
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"confidence": 0.96932452917099,
|
| 172 |
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"position": [
|
| 173 |
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0.0016979388892650604,
|
| 174 |
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|
| 175 |
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|
| 176 |
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],
|
| 177 |
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"orientation": {
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| 178 |
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"w": 0.3227307838166862,
|
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|
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}
|
| 407 |
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}
|
| 408 |
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},
|
| 409 |
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{
|
| 410 |
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"part_name": "handle end cap",
|
| 411 |
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|
| 412 |
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"graspable": true,
|
| 413 |
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"grasp_scenarios": [
|
| 414 |
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{
|
| 415 |
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"scenario": "pinch the tip of the handle, including the end cap, for quick pickup from a flat surface",
|
| 416 |
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"confidence": 0.62
|
| 417 |
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},
|
| 418 |
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{
|
| 419 |
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"scenario": "use the handle tip as a light stabilizing contact point during reorientation",
|
| 420 |
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|
| 421 |
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}
|
| 422 |
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],
|
| 423 |
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|
| 424 |
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"finish the handle end",
|
| 425 |
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|
| 426 |
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"provide a terminal grip point"
|
| 427 |
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],
|
| 428 |
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"semantic_description": "Small light-colored rounded cap at the very end of the black handle, appearing smooth, hard, and slightly glossy as a compact end piece.",
|
| 429 |
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"id": 4,
|
| 430 |
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"grasp_group": {}
|
| 431 |
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}
|
| 432 |
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],
|
| 433 |
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"quality_check": {
|
| 434 |
+
"success": true,
|
| 435 |
+
"message": "YES"
|
| 436 |
+
}
|
| 437 |
+
}
|
dataset/kitchen_supplies/tableware/6765f277e1c557e9860eeda5eddb94c7/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:bc1740d203bf245dfddbf7f18cb904b692f488fac9f4326936a26bcf7277380a
|
| 3 |
+
size 3801624
|