Add asset kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5
Browse files
.gitattributes
CHANGED
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@@ -7369,3 +7369,4 @@ dataset/kitchen_supplies/tableware/b93b7cf19e17593889c731a02e895f69/affordance/m
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| 7369 |
dataset/kitchen_supplies/tableware/b74ecad052665f2dab504aea62e2f532/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7370 |
dataset/kitchen_supplies/tableware/ba0ee4e6627f51c4805e8a1d75877d5b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7371 |
dataset/kitchen_supplies/tableware/ba494bf4f07b52ba8695a9755f41a859/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7369 |
dataset/kitchen_supplies/tableware/b74ecad052665f2dab504aea62e2f532/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7370 |
dataset/kitchen_supplies/tableware/ba0ee4e6627f51c4805e8a1d75877d5b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7371 |
dataset/kitchen_supplies/tableware/ba494bf4f07b52ba8695a9755f41a859/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7372 |
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dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,350 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "fork head",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
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{
|
| 9 |
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"scenario": "lightly grasp the fork head to reorient the utensil during sorting or placement",
|
| 10 |
+
"confidence": 0.34
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
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"scenario": "pinch the neck near the fork head to stabilize the fork while another tool manipulates the handle",
|
| 14 |
+
"confidence": 0.29
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"pierce food",
|
| 19 |
+
"separate small pieces of food",
|
| 20 |
+
"provide the eating end",
|
| 21 |
+
"indicate utensil orientation"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Small pale yellow-green fork head made of smooth plastic, with four short rounded tines and a narrow neck at the front of the utensil.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_1": {
|
| 27 |
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"confidence": 0.973530650138855,
|
| 28 |
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"position": [
|
| 29 |
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-0.03619830007664859,
|
| 30 |
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|
| 31 |
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|
| 32 |
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],
|
| 33 |
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"orientation": {
|
| 34 |
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"w": 0.5642619590660217,
|
| 35 |
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"xyz": [
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| 36 |
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|
| 37 |
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0.5025214130622065,
|
| 38 |
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|
| 39 |
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]
|
| 40 |
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}
|
| 41 |
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},
|
| 42 |
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"grasp_3": {
|
| 43 |
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"confidence": 0.9702634811401367,
|
| 44 |
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"position": [
|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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],
|
| 49 |
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"orientation": {
|
| 50 |
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"w": 0.4322868531030675,
|
| 51 |
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"xyz": [
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| 52 |
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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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},
|
| 58 |
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"grasp_6": {
|
| 59 |
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"confidence": 0.9677308201789856,
|
| 60 |
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"position": [
|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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],
|
| 65 |
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"orientation": {
|
| 66 |
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"w": 0.48086384337126936,
|
| 67 |
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"xyz": [
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| 68 |
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| 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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},
|
| 74 |
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"grasp_10": {
|
| 75 |
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"confidence": 0.966616153717041,
|
| 76 |
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"position": [
|
| 77 |
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|
| 78 |
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0.08469996154963155,
|
| 79 |
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|
| 80 |
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],
|
| 81 |
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"orientation": {
|
| 82 |
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"w": 0.40360327361148607,
|
| 83 |
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"xyz": [
|
| 84 |
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|
| 85 |
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-0.31119984933646705,
|
| 86 |
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|
| 87 |
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]
|
| 88 |
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}
|
| 89 |
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},
|
| 90 |
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"grasp_12": {
|
| 91 |
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"confidence": 0.9637978076934814,
|
| 92 |
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"position": [
|
| 93 |
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-0.07564315642230213,
|
| 94 |
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-0.08586807995379786,
|
| 95 |
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|
| 96 |
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],
|
| 97 |
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"orientation": {
|
| 98 |
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"w": 0.6061144688678802,
|
| 99 |
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"xyz": [
|
| 100 |
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-0.4110655126857222,
|
| 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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},
|
| 106 |
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"grasp_15": {
|
| 107 |
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"confidence": 0.95890212059021,
|
| 108 |
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"position": [
|
| 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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"orientation": {
|
| 114 |
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"w": 0.35859322531493776,
|
| 115 |
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"xyz": [
|
| 116 |
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0.6034922219707968,
|
| 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_17": {
|
| 123 |
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"confidence": 0.9561807513237,
|
| 124 |
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"position": [
|
| 125 |
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-0.0744258954655379,
|
| 126 |
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0.08584299237190862,
|
| 127 |
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|
| 128 |
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],
|
| 129 |
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"orientation": {
|
| 130 |
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"w": 0.6328515690153064,
|
| 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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}
|
| 139 |
+
},
|
| 140 |
+
{
|
| 141 |
+
"part_name": "fork handle",
|
| 142 |
+
"mask_color": "Blue",
|
| 143 |
+
"graspable": true,
|
| 144 |
+
"grasp_scenarios": [
|
| 145 |
+
{
|
| 146 |
+
"scenario": "grasp the handle to pick up and carry the fork",
|
| 147 |
+
"confidence": 0.96
|
| 148 |
+
},
|
| 149 |
+
{
|
| 150 |
+
"scenario": "hold the handle to orient the fork for feeding or placement",
|
| 151 |
+
"confidence": 0.94
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"scenario": "grip the handle to stabilize the fork while piercing food",
|
| 155 |
+
"confidence": 0.9
|
| 156 |
+
}
|
| 157 |
+
],
|
| 158 |
+
"functional_labels": [
|
| 159 |
+
"provide main grip",
|
| 160 |
+
"support utensil handling",
|
| 161 |
+
"transfer force to the tines",
|
| 162 |
+
"improve control and orientation"
|
| 163 |
+
],
|
| 164 |
+
"semantic_description": "Larger rounded ergonomic handle made of smooth plastic, primarily pink with a pale mint-green underside/end section, thicker at the rear for comfortable gripping.",
|
| 165 |
+
"id": 2,
|
| 166 |
+
"grasp_group": {
|
| 167 |
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"grasp_22": {
|
| 168 |
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"confidence": 0.9836838245391846,
|
| 169 |
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"position": [
|
| 170 |
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0.07051179115660489,
|
| 171 |
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0.08628044576107641,
|
| 172 |
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-0.005508298134373035
|
| 173 |
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],
|
| 174 |
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"orientation": {
|
| 175 |
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"w": 0.3898273902813009,
|
| 176 |
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"xyz": [
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| 177 |
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0.6147852835261265,
|
| 178 |
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0.32393265150699213,
|
| 179 |
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|
| 180 |
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]
|
| 181 |
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}
|
| 182 |
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},
|
| 183 |
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"grasp_25": {
|
| 184 |
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"confidence": 0.9817497730255127,
|
| 185 |
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"position": [
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| 186 |
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| 187 |
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|
| 188 |
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|
| 189 |
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],
|
| 190 |
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"orientation": {
|
| 191 |
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"w": 0.38954414132424886,
|
| 192 |
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"xyz": [
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| 193 |
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|
| 194 |
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0.32694538306606535,
|
| 195 |
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|
| 196 |
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]
|
| 197 |
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}
|
| 198 |
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},
|
| 199 |
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"grasp_26": {
|
| 200 |
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"confidence": 0.9813413619995117,
|
| 201 |
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"position": [
|
| 202 |
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-0.03356783906929195,
|
| 203 |
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0.08673877567707677,
|
| 204 |
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0.005917987706197891
|
| 205 |
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],
|
| 206 |
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"orientation": {
|
| 207 |
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"w": 0.5988781202296429,
|
| 208 |
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"xyz": [
|
| 209 |
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0.4025799494863225,
|
| 210 |
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| 211 |
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|
| 212 |
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]
|
| 213 |
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}
|
| 214 |
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},
|
| 215 |
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"grasp_27": {
|
| 216 |
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"confidence": 0.981332540512085,
|
| 217 |
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"position": [
|
| 218 |
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0.03214434836991131,
|
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dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/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:f1f2d0fb6ffb7c31efad8fc0b70dc6c58969fb01b3ca702ef26d1d3415410032
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size 3779728
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