Add asset kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219
Browse files
.gitattributes
CHANGED
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@@ -8408,3 +8408,4 @@ dataset/kitchen_supplies/tableware/0391f552c5255069909b0db6e5e48c50/affordance/m
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| 8408 |
dataset/kitchen_supplies/tableware/04fa042f30b555d2927d3a00264dbf59/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8409 |
dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8410 |
dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8408 |
dataset/kitchen_supplies/tableware/04fa042f30b555d2927d3a00264dbf59/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8409 |
dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8410 |
dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8411 |
+
dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,494 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "spoon handle",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle to pick up and manipulate the spoon",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle to stir or scoop with the bowl end",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pinch near the hanging hole to reposition or hang the spoon",
|
| 18 |
+
"confidence": 0.68
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grip area",
|
| 23 |
+
"control spoon orientation",
|
| 24 |
+
"support stirring motion",
|
| 25 |
+
"enable hanging via hole"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Long narrow orange handle made of smooth molded plastic or silicone-like material, with a slight taper and a small oval hanging hole at the end opposite the bowl.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9525827765464783,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.11936460062861443,
|
| 34 |
+
0.005952119350695284,
|
| 35 |
+
-0.08126596186775714
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.6951410732706222,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.05571602358232778,
|
| 41 |
+
-0.015223062837352308,
|
| 42 |
+
0.716549280458916
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9383066892623901,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.120673056691885,
|
| 50 |
+
-0.000931396509258775,
|
| 51 |
+
-0.08337309781927615
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.702872564215639,
|
| 55 |
+
"xyz": [
|
| 56 |
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-0.029150534177192166,
|
| 57 |
+
-0.05761293599592754,
|
| 58 |
+
0.7083792447806797
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.9292259812355042,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.1114678792655468,
|
| 66 |
+
-0.010661744523531524,
|
| 67 |
+
-0.08184920821804553
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.7001614182540413,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.12650765403890504,
|
| 73 |
+
-0.07431602864314513,
|
| 74 |
+
0.6987466849615627
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_3": {
|
| 79 |
+
"confidence": 0.927876353263855,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.13189497217535973,
|
| 82 |
+
0.0019712916000571568,
|
| 83 |
+
-0.08004879776854068
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.7177121616457512,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.06339868024094707,
|
| 89 |
+
0.10592304492257842,
|
| 90 |
+
-0.6853102720110196
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_4": {
|
| 95 |
+
"confidence": 0.9244966506958008,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.08854604884982109,
|
| 98 |
+
-0.0022152057026687544,
|
| 99 |
+
-0.07988159928936511
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
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"w": 0.7033582482927547,
|
| 103 |
+
"xyz": [
|
| 104 |
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0.09830265038645783,
|
| 105 |
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-0.0899292956577813,
|
| 106 |
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-0.6982381293427349
|
| 107 |
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]
|
| 108 |
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}
|
| 109 |
+
},
|
| 110 |
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"grasp_6": {
|
| 111 |
+
"confidence": 0.8976134657859802,
|
| 112 |
+
"position": [
|
| 113 |
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-0.1504630707204342,
|
| 114 |
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0.009289314959460171,
|
| 115 |
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0.11297623242717236
|
| 116 |
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],
|
| 117 |
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"orientation": {
|
| 118 |
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"w": 0.031162655927389128,
|
| 119 |
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"xyz": [
|
| 120 |
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0.7270137144309983,
|
| 121 |
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-0.6844211788203053,
|
| 122 |
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0.045250391015083845
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_8": {
|
| 127 |
+
"confidence": 0.8915201425552368,
|
| 128 |
+
"position": [
|
| 129 |
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-0.1444171629846096,
|
| 130 |
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-0.014977608818298904,
|
| 131 |
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0.11137210752349347
|
| 132 |
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],
|
| 133 |
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"orientation": {
|
| 134 |
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"w": 0.03543155106263886,
|
| 135 |
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"xyz": [
|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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]
|
| 140 |
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}
|
| 141 |
+
},
|
| 142 |
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"grasp_11": {
|
| 143 |
+
"confidence": 0.8795289993286133,
|
| 144 |
+
"position": [
|
| 145 |
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-0.09700120612978935,
|
| 146 |
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0.015524563368671807,
|
| 147 |
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0.11134941305499524
|
| 148 |
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],
|
| 149 |
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"orientation": {
|
| 150 |
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"w": 0.0031430217208009968,
|
| 151 |
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"xyz": [
|
| 152 |
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-0.6976180710716087,
|
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|
dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
|
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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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oid sha256:746596a514a57d031872bca5fcb6a744be90dd47e5837a2eba2124238f908270
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| 3 |
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size 836996
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