Add asset kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554
Browse files
.gitattributes
CHANGED
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@@ -7604,3 +7604,4 @@ dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/affordance/mesh_p
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| 7604 |
dataset/kitchen_supplies/ware/9ccab934d9d8597bb38a87346fbf8c38/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7605 |
dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7606 |
dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7604 |
dataset/kitchen_supplies/ware/9ccab934d9d8597bb38a87346fbf8c38/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7605 |
dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7606 |
dataset/kitchen_supplies/ware/9d1e927e5d4d56b0a564ff76829e4470/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7607 |
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dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,386 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "mug handle",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle to lift the mug",
|
| 10 |
+
"confidence": 0.93
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle to stabilize and reorient the mug",
|
| 14 |
+
"confidence": 0.88
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the handle to pull or slide the mug slightly",
|
| 18 |
+
"confidence": 0.74
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide a side grip",
|
| 23 |
+
"lift the mug without touching the body",
|
| 24 |
+
"stabilize the mug while drinking or pouring",
|
| 25 |
+
"help reorient the mug"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Angular rectangular white handle made of hard smooth plastic or ceramic with a matte-to-satin finish, medium-sized and attached to the mug side, with black striped detailing on its inner and outer faces.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_17": {
|
| 31 |
+
"confidence": 0.8113529086112976,
|
| 32 |
+
"position": [
|
| 33 |
+
0.16661767923505977,
|
| 34 |
+
-0.07496608402288985,
|
| 35 |
+
-0.019322529900819063
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.31819901841176423,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.20350934766708526,
|
| 41 |
+
-0.6004737561629928,
|
| 42 |
+
-0.7048152937141855
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
}
|
| 46 |
+
}
|
| 47 |
+
},
|
| 48 |
+
{
|
| 49 |
+
"part_name": "mug body",
|
| 50 |
+
"mask_color": "Green",
|
| 51 |
+
"graspable": true,
|
| 52 |
+
"grasp_scenarios": [
|
| 53 |
+
{
|
| 54 |
+
"scenario": "grasp the mug body from the sides to pick it up",
|
| 55 |
+
"confidence": 0.79
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"scenario": "hold the body to stabilize the mug on a surface",
|
| 59 |
+
"confidence": 0.7
|
| 60 |
+
},
|
| 61 |
+
{
|
| 62 |
+
"scenario": "grasp the body for placement or repositioning when empty or cool",
|
| 63 |
+
"confidence": 0.67
|
| 64 |
+
}
|
| 65 |
+
],
|
| 66 |
+
"functional_labels": [
|
| 67 |
+
"contain liquids",
|
| 68 |
+
"provide the main vessel volume",
|
| 69 |
+
"support placement on a table",
|
| 70 |
+
"present exterior surface for holding"
|
| 71 |
+
],
|
| 72 |
+
"semantic_description": "Large tapered white mug body with a hard smooth ceramic-like surface and matte finish, cylindrical with a rounded base and open top, featuring a small black printed logo and Chinese text on one side.",
|
| 73 |
+
"id": 1,
|
| 74 |
+
"grasp_group": {
|
| 75 |
+
"grasp_20": {
|
| 76 |
+
"confidence": 0.9757211208343506,
|
| 77 |
+
"position": [
|
| 78 |
+
-0.004253505903761834,
|
| 79 |
+
-0.06745272483385634,
|
| 80 |
+
0.16916145896539092
|
| 81 |
+
],
|
| 82 |
+
"orientation": {
|
| 83 |
+
"w": 0.019493255713971556,
|
| 84 |
+
"xyz": [
|
| 85 |
+
-0.7050948969616364,
|
| 86 |
+
0.7079038055237773,
|
| 87 |
+
0.03651576899481935
|
| 88 |
+
]
|
| 89 |
+
}
|
| 90 |
+
},
|
| 91 |
+
"grasp_21": {
|
| 92 |
+
"confidence": 0.9732966423034668,
|
| 93 |
+
"position": [
|
| 94 |
+
-0.016563539567869157,
|
| 95 |
+
-0.06603318806446623,
|
| 96 |
+
0.1661043963395059
|
| 97 |
+
],
|
| 98 |
+
"orientation": {
|
| 99 |
+
"w": 0.05051435997049412,
|
| 100 |
+
"xyz": [
|
| 101 |
+
-0.7496308194140667,
|
| 102 |
+
-0.6592652940159776,
|
| 103 |
+
-0.029516201100289755
|
| 104 |
+
]
|
| 105 |
+
}
|
| 106 |
+
},
|
| 107 |
+
"grasp_22": {
|
| 108 |
+
"confidence": 0.9731086492538452,
|
| 109 |
+
"position": [
|
| 110 |
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-0.025571090343873948,
|
| 111 |
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-0.06736215557612013,
|
| 112 |
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0.1663475981913507
|
| 113 |
+
],
|
| 114 |
+
"orientation": {
|
| 115 |
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"w": 0.056530553633929365,
|
| 116 |
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"xyz": [
|
| 117 |
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-0.6842956510292504,
|
| 118 |
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0.7267392120853746,
|
| 119 |
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0.01984631214672898
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
},
|
| 123 |
+
"grasp_23": {
|
| 124 |
+
"confidence": 0.9704068303108215,
|
| 125 |
+
"position": [
|
| 126 |
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0.008741012134123594,
|
| 127 |
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-0.07878414895094465,
|
| 128 |
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0.15415546810254455
|
| 129 |
+
],
|
| 130 |
+
"orientation": {
|
| 131 |
+
"w": 0.21185570869117207,
|
| 132 |
+
"xyz": [
|
| 133 |
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-0.6702926275632103,
|
| 134 |
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-0.7099177981916516,
|
| 135 |
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0.04291470540602426
|
| 136 |
+
]
|
| 137 |
+
}
|
| 138 |
+
},
|
| 139 |
+
"grasp_24": {
|
| 140 |
+
"confidence": 0.970228910446167,
|
| 141 |
+
"position": [
|
| 142 |
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-0.019281600776594132,
|
| 143 |
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-0.07935863341845106,
|
| 144 |
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0.16238867258653045
|
| 145 |
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],
|
| 146 |
+
"orientation": {
|
| 147 |
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"w": 0.10627862430254195,
|
| 148 |
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"xyz": [
|
| 149 |
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-0.6951465072372124,
|
| 150 |
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0.7040575083291285,
|
| 151 |
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|
| 152 |
+
]
|
| 153 |
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}
|
| 154 |
+
},
|
| 155 |
+
"grasp_25": {
|
| 156 |
+
"confidence": 0.9684669375419617,
|
| 157 |
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"position": [
|
| 158 |
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-0.05291436723200604,
|
| 159 |
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-0.06026560794271063,
|
| 160 |
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0.16220245277509093
|
| 161 |
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],
|
| 162 |
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"orientation": {
|
| 163 |
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"w": 0.1647094159603218,
|
| 164 |
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"xyz": [
|
| 165 |
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|
| 166 |
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0.7353827091827351,
|
| 167 |
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|
| 168 |
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]
|
| 169 |
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}
|
| 170 |
+
},
|
| 171 |
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"grasp_26": {
|
| 172 |
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"confidence": 0.9670934081077576,
|
| 173 |
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"position": [
|
| 174 |
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0.020541886624414474,
|
| 175 |
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|
| 176 |
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0.16093040024861693
|
| 177 |
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],
|
| 178 |
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"orientation": {
|
| 179 |
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"w": 0.1389553093360334,
|
| 180 |
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"xyz": [
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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]
|
| 185 |
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}
|
| 186 |
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},
|
| 187 |
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"grasp_27": {
|
| 188 |
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"confidence": 0.9642420411109924,
|
| 189 |
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"position": [
|
| 190 |
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|
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|
| 192 |
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|
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],
|
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"orientation": {
|
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"w": 0.14396484794956355,
|
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"xyz": [
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|
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]
|
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dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:c39f64a3e3c95ee1afdec413a802a5576fd8611b66d79440b766bbf22fa7f04c
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size 3778424
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