Add asset kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441
Browse files
.gitattributes
CHANGED
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@@ -7451,3 +7451,4 @@ dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/affordance/me
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| 7451 |
dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7452 |
dataset/kitchen_supplies/utensils/788ef35c14875a0899d7e201ab23fd00/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7453 |
dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7451 |
dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7452 |
dataset/kitchen_supplies/utensils/788ef35c14875a0899d7e201ab23fd00/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7453 |
dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7454 |
+
dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,389 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "lever arms",
|
| 5 |
+
"mask_color": "Brown",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp one lever arm to pull it downward during cork extraction",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pinch a lever arm to reposition or stabilize the opener",
|
| 14 |
+
"confidence": 0.63
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"provide leverage for cork extraction",
|
| 19 |
+
"transmit user force to the lifting mechanism",
|
| 20 |
+
"fold outward and downward during operation",
|
| 21 |
+
"assist stabilization while opening"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Several slender curved metal lever arms on the sides of the opener, each ending in a green ribbed grip sleeve. They are silver with green textured tips and have a hard semi-gloss finish.",
|
| 24 |
+
"id": 11,
|
| 25 |
+
"grasp_group": {}
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"part_name": "top handle",
|
| 29 |
+
"mask_color": "Magenta",
|
| 30 |
+
"graspable": true,
|
| 31 |
+
"grasp_scenarios": [
|
| 32 |
+
{
|
| 33 |
+
"scenario": "grasp the top handle to twist the corkscrew into the cork",
|
| 34 |
+
"confidence": 0.93
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"scenario": "hold the top handle to lift and position the opener over a bottle",
|
| 38 |
+
"confidence": 0.72
|
| 39 |
+
}
|
| 40 |
+
],
|
| 41 |
+
"functional_labels": [
|
| 42 |
+
"provide a turning grip",
|
| 43 |
+
"drive the central screw by rotation",
|
| 44 |
+
"support carrying and positioning",
|
| 45 |
+
"connect to the upper mechanism"
|
| 46 |
+
],
|
| 47 |
+
"semantic_description": "A triangular loop-style silver metal handle at the top of the opener, with a smooth semi-gloss hard surface and open center, attached above the central shaft.",
|
| 48 |
+
"id": 7,
|
| 49 |
+
"grasp_group": {
|
| 50 |
+
"grasp_0": {
|
| 51 |
+
"confidence": 0.833983838558197,
|
| 52 |
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"position": [
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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 |
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"orientation": {
|
| 58 |
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"w": 0.05472054672646764,
|
| 59 |
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"xyz": [
|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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]
|
| 64 |
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}
|
| 65 |
+
},
|
| 66 |
+
"grasp_1": {
|
| 67 |
+
"confidence": 0.8274317979812622,
|
| 68 |
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"position": [
|
| 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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"orientation": {
|
| 74 |
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"w": 0.07292082159258745,
|
| 75 |
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"xyz": [
|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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]
|
| 80 |
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}
|
| 81 |
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},
|
| 82 |
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"grasp_2": {
|
| 83 |
+
"confidence": 0.823691189289093,
|
| 84 |
+
"position": [
|
| 85 |
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|
| 86 |
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-0.0013662099372595549,
|
| 87 |
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|
| 88 |
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],
|
| 89 |
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"orientation": {
|
| 90 |
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"w": 0.09764899310455188,
|
| 91 |
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"xyz": [
|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
+
]
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"grasp_3": {
|
| 99 |
+
"confidence": 0.8224664330482483,
|
| 100 |
+
"position": [
|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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],
|
| 105 |
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"orientation": {
|
| 106 |
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"w": 0.10844506252261538,
|
| 107 |
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"xyz": [
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|
| 109 |
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|
| 110 |
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|
| 111 |
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]
|
| 112 |
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}
|
| 113 |
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},
|
| 114 |
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"grasp_5": {
|
| 115 |
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"confidence": 0.8119423985481262,
|
| 116 |
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"position": [
|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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],
|
| 121 |
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"orientation": {
|
| 122 |
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"w": 0.1268196326687875,
|
| 123 |
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"xyz": [
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| 124 |
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|
| 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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},
|
| 130 |
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"grasp_6": {
|
| 131 |
+
"confidence": 0.8114801049232483,
|
| 132 |
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"position": [
|
| 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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"orientation": {
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| 138 |
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"w": 0.13337547276237505,
|
| 139 |
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"xyz": [
|
| 140 |
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|
| 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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},
|
| 146 |
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"grasp_7": {
|
| 147 |
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"confidence": 0.8111724257469177,
|
| 148 |
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"position": [
|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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],
|
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"orientation": {
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| 154 |
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"w": 0.06044190033301408,
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| 155 |
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"xyz": [
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|
| 159 |
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]
|
| 160 |
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}
|
| 161 |
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},
|
| 162 |
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"grasp_8": {
|
| 163 |
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"confidence": 0.8075858354568481,
|
| 164 |
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"position": [
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| 166 |
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|
| 167 |
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|
| 168 |
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],
|
| 169 |
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"orientation": {
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| 170 |
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"w": 0.15175911909547696,
|
| 171 |
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"xyz": [
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|
| 174 |
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|
| 175 |
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]
|
| 176 |
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}
|
| 177 |
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},
|
| 178 |
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"grasp_9": {
|
| 179 |
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"confidence": 0.7992463111877441,
|
| 180 |
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"position": [
|
| 181 |
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|
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],
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"orientation": {
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"w": 0.14132504121252473,
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"xyz": [
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]
|
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}
|
| 193 |
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},
|
| 194 |
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"grasp_10": {
|
| 195 |
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"confidence": 0.7990868091583252,
|
| 196 |
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"position": [
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|
| 327 |
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],
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"orientation": {
|
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]
|
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}
|
| 338 |
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}
|
| 339 |
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},
|
| 340 |
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{
|
| 341 |
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"part_name": "body frame",
|
| 342 |
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"mask_color": "Pink",
|
| 343 |
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"graspable": true,
|
| 344 |
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"grasp_scenarios": [
|
| 345 |
+
{
|
| 346 |
+
"scenario": "grasp the lower collar/body to pick up the opener",
|
| 347 |
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"confidence": 0.68
|
| 348 |
+
},
|
| 349 |
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{
|
| 350 |
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"scenario": "hold the body frame to steady it around the bottle neck during use",
|
| 351 |
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"confidence": 0.86
|
| 352 |
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}
|
| 353 |
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],
|
| 354 |
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"functional_labels": [
|
| 355 |
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"support the mechanism",
|
| 356 |
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"surround and align with the bottle neck",
|
| 357 |
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"stabilize during cork removal",
|
| 358 |
+
"connect the lever arms and central screw assembly"
|
| 359 |
+
],
|
| 360 |
+
"semantic_description": "The main silver metal frame of the winged corkscrew, including the vertical side supports and broad circular lower collar. It has a smooth hard semi-gloss finish and forms the central structural body around the corkscrew.",
|
| 361 |
+
"id": 8,
|
| 362 |
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"grasp_group": {}
|
| 363 |
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},
|
| 364 |
+
{
|
| 365 |
+
"part_name": "central screw and shaft",
|
| 366 |
+
"mask_color": "Green",
|
| 367 |
+
"graspable": false,
|
| 368 |
+
"grasp_scenarios": [
|
| 369 |
+
{
|
| 370 |
+
"scenario": "briefly pinch the central shaft only for light alignment or inspection, not as a primary grasp",
|
| 371 |
+
"confidence": 0.2
|
| 372 |
+
}
|
| 373 |
+
],
|
| 374 |
+
"functional_labels": [
|
| 375 |
+
"penetrate the cork with the spiral screw",
|
| 376 |
+
"translate rotational input into cork engagement",
|
| 377 |
+
"connect the top handle to the corkscrew tip",
|
| 378 |
+
"move through the body during opening"
|
| 379 |
+
],
|
| 380 |
+
"semantic_description": "The narrow central metal shaft and spiral corkscrew running vertically through the opener. It appears silver/metallic with a smooth finish, with the helical screw visible below the frame.",
|
| 381 |
+
"id": 1,
|
| 382 |
+
"grasp_group": {}
|
| 383 |
+
}
|
| 384 |
+
],
|
| 385 |
+
"quality_check": {
|
| 386 |
+
"success": false,
|
| 387 |
+
"message": "Part descriptions contain color/material mismatches and mask-color/part assignments are inconsistent with visible segmented regions."
|
| 388 |
+
}
|
| 389 |
+
}
|
dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/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 sha256:388c51af43fff0a14b6ec4f6b47bd4ba31cd85f6b50268520f8836c0786b7c35
|
| 3 |
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size 111910408
|