Add asset kitchen_supplies/tableware/6977b00350005f839a7fcc75cc8e093f
Browse files
.gitattributes
CHANGED
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@@ -7274,3 +7274,4 @@ dataset/kitchen_supplies/tableware/6765f277e1c557e9860eeda5eddb94c7/affordance/m
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| 7274 |
dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7275 |
dataset/kitchen_supplies/tableware/680fd401dbcf5e29b6c6693fd12646ea/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7276 |
dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7274 |
dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7275 |
dataset/kitchen_supplies/tableware/680fd401dbcf5e29b6c6693fd12646ea/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7276 |
dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7277 |
+
dataset/kitchen_supplies/tableware/6977b00350005f839a7fcc75cc8e093f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/tableware/6977b00350005f839a7fcc75cc8e093f/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,445 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "handle",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle to pick up and move the spoon",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle to orient the spoon for scooping or stirring",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the handle end to stabilize the spoon while avoiding the bowl",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"primary gripping area",
|
| 23 |
+
"provide leverage for manipulation",
|
| 24 |
+
"position the spoon during scooping",
|
| 25 |
+
"keep hand or gripper away from contents"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Long narrow silver-gray metal handle with a smooth slightly reflective finish and hard texture, tapering toward the neck and widening at the end, extending from the bowl as the main rear part.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_1": {
|
| 31 |
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"confidence": 0.9850563406944275,
|
| 32 |
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"position": [
|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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],
|
| 37 |
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"orientation": {
|
| 38 |
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"w": 0.5541757339871901,
|
| 39 |
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"xyz": [
|
| 40 |
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| 41 |
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|
| 42 |
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|
| 43 |
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]
|
| 44 |
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}
|
| 45 |
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},
|
| 46 |
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"grasp_3": {
|
| 47 |
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"confidence": 0.9849047660827637,
|
| 48 |
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"position": [
|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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],
|
| 53 |
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"orientation": {
|
| 54 |
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"w": 0.4634049340187026,
|
| 55 |
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"xyz": [
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| 56 |
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| 57 |
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|
| 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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"grasp_4": {
|
| 63 |
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"confidence": 0.9845731854438782,
|
| 64 |
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"position": [
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| 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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"orientation": {
|
| 70 |
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"w": 0.4603613171652195,
|
| 71 |
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"xyz": [
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| 72 |
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| 73 |
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|
| 74 |
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|
| 75 |
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]
|
| 76 |
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}
|
| 77 |
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},
|
| 78 |
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"grasp_5": {
|
| 79 |
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"confidence": 0.9844427704811096,
|
| 80 |
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"position": [
|
| 81 |
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|
| 82 |
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| 83 |
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|
| 84 |
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],
|
| 85 |
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"orientation": {
|
| 86 |
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"w": 0.4838175126956164,
|
| 87 |
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"xyz": [
|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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]
|
| 92 |
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}
|
| 93 |
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},
|
| 94 |
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"grasp_6": {
|
| 95 |
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"confidence": 0.9840643405914307,
|
| 96 |
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"position": [
|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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],
|
| 101 |
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"orientation": {
|
| 102 |
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"w": 0.46395426809840773,
|
| 103 |
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"xyz": [
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| 105 |
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|
| 106 |
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|
| 107 |
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]
|
| 108 |
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}
|
| 109 |
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},
|
| 110 |
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"grasp_7": {
|
| 111 |
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"confidence": 0.9838979840278625,
|
| 112 |
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"position": [
|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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],
|
| 117 |
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"orientation": {
|
| 118 |
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"w": 0.5631245138380543,
|
| 119 |
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"xyz": [
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| 122 |
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|
| 123 |
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]
|
| 124 |
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}
|
| 125 |
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},
|
| 126 |
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"grasp_9": {
|
| 127 |
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"confidence": 0.9835978150367737,
|
| 128 |
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"position": [
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| 129 |
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| 130 |
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|
| 132 |
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],
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"orientation": {
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"xyz": [
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|
| 139 |
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]
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}
|
| 141 |
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},
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| 142 |
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"grasp_12": {
|
| 143 |
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"confidence": 0.9823378324508667,
|
| 144 |
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"position": [
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| 147 |
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|
| 148 |
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],
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"orientation": {
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| 150 |
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"w": 0.6445959214258512,
|
| 151 |
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"xyz": [
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| 154 |
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|
| 155 |
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]
|
| 156 |
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}
|
| 157 |
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},
|
| 158 |
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"grasp_13": {
|
| 159 |
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"confidence": 0.9816950559616089,
|
| 160 |
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"position": [
|
| 161 |
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| 162 |
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"orientation": {
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"w": 0.4333768322932305,
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"xyz": [
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|
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}
|
| 173 |
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},
|
| 174 |
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"grasp_14": {
|
| 175 |
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"confidence": 0.9816777110099792,
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| 176 |
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"position": [
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|
dataset/kitchen_supplies/tableware/6977b00350005f839a7fcc75cc8e093f/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
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|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:8cf4ec3c5f681a041c2f648ea606aba05e53070b8822eb6ac3c9a6505533591c
|
| 3 |
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size 606564
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