Add asset kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918
Browse files
.gitattributes
CHANGED
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@@ -7622,3 +7622,4 @@ dataset/kitchen_supplies/ware/ad7629e535ea501ab6124d314043593e/affordance/mesh_p
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| 7622 |
dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7623 |
dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7624 |
dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7622 |
dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7623 |
dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7624 |
dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7625 |
+
dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,486 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "cup rim",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "pinch the rim to pick up or reposition the empty cup",
|
| 10 |
+
"confidence": 0.69
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the rim to stabilize the cup during placement or stacking",
|
| 14 |
+
"confidence": 0.62
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"provide drinking edge",
|
| 19 |
+
"reinforce opening",
|
| 20 |
+
"support lidless pouring",
|
| 21 |
+
"offer top grasp point"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Wide circular purple rim made of glossy hard plastic, with a smooth surface and slightly thickened rounded lip around the top opening.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_1": {
|
| 27 |
+
"confidence": 0.9720325469970703,
|
| 28 |
+
"position": [
|
| 29 |
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-0.020739166880957782,
|
| 30 |
+
0.0964072069618851,
|
| 31 |
+
0.13273178646340966
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.2971733787378652,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.6298226595700236,
|
| 37 |
+
0.7101528956998803,
|
| 38 |
+
-0.10341308036577786
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_2": {
|
| 43 |
+
"confidence": 0.9719287157058716,
|
| 44 |
+
"position": [
|
| 45 |
+
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|
| 46 |
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-0.09375305264256895,
|
| 47 |
+
0.13483922788873315
|
| 48 |
+
],
|
| 49 |
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"orientation": {
|
| 50 |
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"w": 0.21246604429296623,
|
| 51 |
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"xyz": [
|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
+
]
|
| 56 |
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}
|
| 57 |
+
},
|
| 58 |
+
"grasp_3": {
|
| 59 |
+
"confidence": 0.9717087149620056,
|
| 60 |
+
"position": [
|
| 61 |
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-0.0005655998975271359,
|
| 62 |
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0.09867292852140963,
|
| 63 |
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0.13726829597726464
|
| 64 |
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],
|
| 65 |
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"orientation": {
|
| 66 |
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"w": 0.1977383191746785,
|
| 67 |
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"xyz": [
|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_4": {
|
| 75 |
+
"confidence": 0.9710761308670044,
|
| 76 |
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"position": [
|
| 77 |
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-0.013601470622234046,
|
| 78 |
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|
| 79 |
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|
| 80 |
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],
|
| 81 |
+
"orientation": {
|
| 82 |
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"w": 0.10367809241222987,
|
| 83 |
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"xyz": [
|
| 84 |
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0.6178847901649618,
|
| 85 |
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-0.6752640370994296,
|
| 86 |
+
0.38921423334295313
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_6": {
|
| 91 |
+
"confidence": 0.9701898694038391,
|
| 92 |
+
"position": [
|
| 93 |
+
0.05645858042407781,
|
| 94 |
+
0.06849865079857409,
|
| 95 |
+
0.13420512387529016
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.27708245863869757,
|
| 99 |
+
"xyz": [
|
| 100 |
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0.5711305371842264,
|
| 101 |
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-0.7700925323168137,
|
| 102 |
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-0.06318791245379991
|
| 103 |
+
]
|
| 104 |
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}
|
| 105 |
+
},
|
| 106 |
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"grasp_7": {
|
| 107 |
+
"confidence": 0.9682352542877197,
|
| 108 |
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"position": [
|
| 109 |
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0.036038476158864796,
|
| 110 |
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-0.08697854517959058,
|
| 111 |
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|
| 112 |
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],
|
| 113 |
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"orientation": {
|
| 114 |
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"w": 0.12837275535283207,
|
| 115 |
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"xyz": [
|
| 116 |
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|
| 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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},
|
| 122 |
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"grasp_9": {
|
| 123 |
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"confidence": 0.967485249042511,
|
| 124 |
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"position": [
|
| 125 |
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0.08488792844582349,
|
| 126 |
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0.06925222487188876,
|
| 127 |
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0.1271612704731524
|
| 128 |
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],
|
| 129 |
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"orientation": {
|
| 130 |
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"w": 0.3515406469032539,
|
| 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": 0.9668787121772766,
|
| 140 |
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"position": [
|
| 141 |
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-0.08590870432090014,
|
| 142 |
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0.04075221926905215,
|
| 143 |
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|
| 144 |
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],
|
| 145 |
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"orientation": {
|
| 146 |
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"w": 0.2778578986026283,
|
| 147 |
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"xyz": [
|
| 148 |
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0.3103505322840015,
|
| 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_11": {
|
| 155 |
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"confidence": 0.9668729305267334,
|
| 156 |
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"position": [
|
| 157 |
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0.033896072884090245,
|
| 158 |
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-0.08067497401498258,
|
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| 486 |
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|
dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/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:cd829c977d4592a132d53abc32c6fdf66a9d1d691876de7e66b4156320fe70bc
|
| 3 |
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size 2506732
|