Add asset kitchen_supplies/ware/ad7629e535ea501ab6124d314043593e
Browse files
.gitattributes
CHANGED
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@@ -7618,4 +7618,4 @@ dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/affordance/mesh_p
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| 7618 |
dataset/kitchen_supplies/ware/aa5707dd26625d4386239b48e6111d19/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7619 |
dataset/kitchen_supplies/ware/aa6b288e75955807983a1f57b25d2dcd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7620 |
dataset/kitchen_supplies/ware/abe907cf973652c2af683fa2ef404df4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7621 |
-
dataset/kitchen_supplies/ware/
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| 7618 |
dataset/kitchen_supplies/ware/aa5707dd26625d4386239b48e6111d19/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7619 |
dataset/kitchen_supplies/ware/aa6b288e75955807983a1f57b25d2dcd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7620 |
dataset/kitchen_supplies/ware/abe907cf973652c2af683fa2ef404df4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7621 |
+
dataset/kitchen_supplies/ware/ad7629e535ea501ab6124d314043593e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/ware/ad7629e535ea501ab6124d314043593e/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "rim",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": false,
|
| 7 |
+
"grasp_scenarios": [],
|
| 8 |
+
"functional_labels": [
|
| 9 |
+
"provide a drinking edge",
|
| 10 |
+
"define the opening",
|
| 11 |
+
"guide pouring from the lip"
|
| 12 |
+
],
|
| 13 |
+
"semantic_description": "Thin circular top lip of the wine glass, appearing clear to silvery reflective glass with a glossy smooth hard surface and a narrow rounded edge around the opening.",
|
| 14 |
+
"id": 0,
|
| 15 |
+
"grasp_group": {}
|
| 16 |
+
},
|
| 17 |
+
{
|
| 18 |
+
"part_name": "base",
|
| 19 |
+
"mask_color": "Green",
|
| 20 |
+
"graspable": true,
|
| 21 |
+
"grasp_scenarios": [
|
| 22 |
+
{
|
| 23 |
+
"scenario": "grasp the base to pick up or reposition the wine glass from below",
|
| 24 |
+
"confidence": 0.58
|
| 25 |
+
},
|
| 26 |
+
{
|
| 27 |
+
"scenario": "hold the base to stabilize the glass while placing it on a surface",
|
| 28 |
+
"confidence": 0.72
|
| 29 |
+
}
|
| 30 |
+
],
|
| 31 |
+
"functional_labels": [
|
| 32 |
+
"support upright standing",
|
| 33 |
+
"stabilize the glass",
|
| 34 |
+
"provide a contact surface with the table"
|
| 35 |
+
],
|
| 36 |
+
"semantic_description": "Small round foot at the bottom, appearing clear to white reflective glass with a glossy smooth hard surface, flat circular shape, and centered position beneath the bowl.",
|
| 37 |
+
"id": 1,
|
| 38 |
+
"grasp_group": {
|
| 39 |
+
"grasp_1": {
|
| 40 |
+
"confidence": 0.7330657243728638,
|
| 41 |
+
"position": [
|
| 42 |
+
-0.10304472185089253,
|
| 43 |
+
0.0013460996560752392,
|
| 44 |
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-0.06512682512402534
|
| 45 |
+
],
|
| 46 |
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"orientation": {
|
| 47 |
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"w": 0.5497047249828033,
|
| 48 |
+
"xyz": [
|
| 49 |
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-0.43804889667043145,
|
| 50 |
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0.44563563600998146,
|
| 51 |
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-0.5543886356838291
|
| 52 |
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]
|
| 53 |
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}
|
| 54 |
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},
|
| 55 |
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"grasp_2": {
|
| 56 |
+
"confidence": 0.7263818383216858,
|
| 57 |
+
"position": [
|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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],
|
| 62 |
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"orientation": {
|
| 63 |
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"w": 0.6028993997932133,
|
| 64 |
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"xyz": [
|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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]
|
| 69 |
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}
|
| 70 |
+
},
|
| 71 |
+
"grasp_5": {
|
| 72 |
+
"confidence": 0.7116069793701172,
|
| 73 |
+
"position": [
|
| 74 |
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-0.0990745980234351,
|
| 75 |
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0.05803124775411561,
|
| 76 |
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-0.05064382031559944
|
| 77 |
+
],
|
| 78 |
+
"orientation": {
|
| 79 |
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"w": 0.6059807477677989,
|
| 80 |
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"xyz": [
|
| 81 |
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|
| 82 |
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0.35012145836789066,
|
| 83 |
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0.39552046316363076
|
| 84 |
+
]
|
| 85 |
+
}
|
| 86 |
+
},
|
| 87 |
+
"grasp_6": {
|
| 88 |
+
"confidence": 0.7098936438560486,
|
| 89 |
+
"position": [
|
| 90 |
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-0.10253528095199727,
|
| 91 |
+
0.0228547973674722,
|
| 92 |
+
-0.05791020020842552
|
| 93 |
+
],
|
| 94 |
+
"orientation": {
|
| 95 |
+
"w": 0.5583238006235094,
|
| 96 |
+
"xyz": [
|
| 97 |
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0.5213749487597105,
|
| 98 |
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0.409152216128599,
|
| 99 |
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0.4990362316507545
|
| 100 |
+
]
|
| 101 |
+
}
|
| 102 |
+
},
|
| 103 |
+
"grasp_7": {
|
| 104 |
+
"confidence": 0.7097100615501404,
|
| 105 |
+
"position": [
|
| 106 |
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0.07204892896697856,
|
| 107 |
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0.054157128382939845,
|
| 108 |
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-0.10011423751711845
|
| 109 |
+
],
|
| 110 |
+
"orientation": {
|
| 111 |
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"w": 0.36377993234356176,
|
| 112 |
+
"xyz": [
|
| 113 |
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-0.22984054865290943,
|
| 114 |
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-0.4214841910912952,
|
| 115 |
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0.7982409158137406
|
| 116 |
+
]
|
| 117 |
+
}
|
| 118 |
+
},
|
| 119 |
+
"grasp_9": {
|
| 120 |
+
"confidence": 0.7077624201774597,
|
| 121 |
+
"position": [
|
| 122 |
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0.1130838286189828,
|
| 123 |
+
-0.0065798304858617485,
|
| 124 |
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-0.05021430924534798
|
| 125 |
+
],
|
| 126 |
+
"orientation": {
|
| 127 |
+
"w": 0.5348216364127927,
|
| 128 |
+
"xyz": [
|
| 129 |
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-0.502064851072133,
|
| 130 |
+
-0.46511619410749727,
|
| 131 |
+
0.4955437705406217
|
| 132 |
+
]
|
| 133 |
+
}
|
| 134 |
+
},
|
| 135 |
+
"grasp_15": {
|
| 136 |
+
"confidence": 0.6874899864196777,
|
| 137 |
+
"position": [
|
| 138 |
+
-0.1083185333700385,
|
| 139 |
+
-0.0076170937973074615,
|
| 140 |
+
-0.052502844482660294
|
| 141 |
+
],
|
| 142 |
+
"orientation": {
|
| 143 |
+
"w": 0.5397716322645291,
|
| 144 |
+
"xyz": [
|
| 145 |
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-0.4888374385945997,
|
| 146 |
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0.4612854419138407,
|
| 147 |
+
-0.5068533167585169
|
| 148 |
+
]
|
| 149 |
+
}
|
| 150 |
+
},
|
| 151 |
+
"grasp_16": {
|
| 152 |
+
"confidence": 0.6861914396286011,
|
| 153 |
+
"position": [
|
| 154 |
+
0.10690906309173442,
|
| 155 |
+
-0.005258590157609433,
|
| 156 |
+
-0.05694768950343132
|
| 157 |
+
],
|
| 158 |
+
"orientation": {
|
| 159 |
+
"w": 0.5213438645477785,
|
| 160 |
+
"xyz": [
|
| 161 |
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-0.48471171086378184,
|
| 162 |
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-0.45185124524268994,
|
| 163 |
+
0.5376667968384541
|
| 164 |
+
]
|
| 165 |
+
}
|
| 166 |
+
}
|
| 167 |
+
}
|
| 168 |
+
},
|
| 169 |
+
{
|
| 170 |
+
"part_name": "bowl",
|
| 171 |
+
"mask_color": "Blue",
|
| 172 |
+
"graspable": true,
|
| 173 |
+
"grasp_scenarios": [
|
| 174 |
+
{
|
| 175 |
+
"scenario": "grasp the bowl to pick up the wine glass",
|
| 176 |
+
"confidence": 0.83
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"scenario": "hold the bowl to rotate or orient the glass during inspection",
|
| 180 |
+
"confidence": 0.79
|
| 181 |
+
},
|
| 182 |
+
{
|
| 183 |
+
"scenario": "stabilize the glass by the bowl while setting it down",
|
| 184 |
+
"confidence": 0.74
|
| 185 |
+
}
|
| 186 |
+
],
|
| 187 |
+
"functional_labels": [
|
| 188 |
+
"contain liquid",
|
| 189 |
+
"present beverage for drinking",
|
| 190 |
+
"main grasp surface",
|
| 191 |
+
"provide vessel volume"
|
| 192 |
+
],
|
| 193 |
+
"semantic_description": "Large bulbous cup body made of clear translucent glass with a highly glossy smooth hard surface, rounded tapering shape, dominant upper position, and visible amber liquid-like reflections with small printed markings on one side.",
|
| 194 |
+
"id": 2,
|
| 195 |
+
"grasp_group": {
|
| 196 |
+
"grasp_22": {
|
| 197 |
+
"confidence": 0.7064817547798157,
|
| 198 |
+
"position": [
|
| 199 |
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0.0786818232445512,
|
| 200 |
+
0.04478211869718507,
|
| 201 |
+
-0.0823555700480938
|
| 202 |
+
],
|
| 203 |
+
"orientation": {
|
| 204 |
+
"w": 0.7322270133221549,
|
| 205 |
+
"xyz": [
|
| 206 |
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0.4366446029193789,
|
| 207 |
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-0.27358286404164955,
|
| 208 |
+
-0.4453509943914611
|
| 209 |
+
]
|
| 210 |
+
}
|
| 211 |
+
},
|
| 212 |
+
"grasp_24": {
|
| 213 |
+
"confidence": 0.6984090209007263,
|
| 214 |
+
"position": [
|
| 215 |
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0.07628003173158504,
|
| 216 |
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-0.04881607572315261,
|
| 217 |
+
-0.08543118461966515
|
| 218 |
+
],
|
| 219 |
+
"orientation": {
|
| 220 |
+
"w": 0.7642786282837122,
|
| 221 |
+
"xyz": [
|
| 222 |
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-0.4355485111687958,
|
| 223 |
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|
| 224 |
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0.4011625019982008
|
| 225 |
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]
|
| 226 |
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}
|
| 227 |
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dataset/kitchen_supplies/ware/ad7629e535ea501ab6124d314043593e/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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oid sha256:dc5e623d8596e3285f11814dcf6151139aea31a28ad06a0012e180784d5188b8
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| 3 |
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size 3779868
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