Add asset kitchen_supplies/ware/144731dfecda58caac1454803effe05d
Browse files
.gitattributes
CHANGED
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@@ -7507,4 +7507,4 @@ dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/affordance/mesh_p
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| 7507 |
dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7508 |
dataset/kitchen_supplies/ware/0b5c3a6c03d85ea0b1c6336ac5113eda/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7509 |
dataset/kitchen_supplies/ware/0d82c39258e55a0b99b652aac6da3b9a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7510 |
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dataset/kitchen_supplies/ware/
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| 7507 |
dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7508 |
dataset/kitchen_supplies/ware/0b5c3a6c03d85ea0b1c6336ac5113eda/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7509 |
dataset/kitchen_supplies/ware/0d82c39258e55a0b99b652aac6da3b9a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7510 |
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dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "base",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the circular base from the side or underneath to lift or reposition the goblet",
|
| 10 |
+
"confidence": 0.67
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the base to stabilize the goblet during placement or inspection",
|
| 14 |
+
"confidence": 0.72
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"support upright standing",
|
| 19 |
+
"provide a stable footprint",
|
| 20 |
+
"distribute load to the table",
|
| 21 |
+
"stabilize the vessel during placement"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Flat circular metallic foot at the bottom, silver-colored, glossy and highly reflective with a smooth hard surface, relatively wide and thin, forming the lowest support of the goblet.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_0": {
|
| 27 |
+
"confidence": 0.7937545776367188,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.09513951680855826,
|
| 30 |
+
0.032002813823055476,
|
| 31 |
+
-0.04528649337589741
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.5283669450875127,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.3601298257945527,
|
| 37 |
+
0.6472937970747643,
|
| 38 |
+
-0.4149043506407333
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
}
|
| 42 |
+
}
|
| 43 |
+
},
|
| 44 |
+
{
|
| 45 |
+
"part_name": "rim",
|
| 46 |
+
"mask_color": "Green",
|
| 47 |
+
"graspable": false,
|
| 48 |
+
"grasp_scenarios": [],
|
| 49 |
+
"functional_labels": [
|
| 50 |
+
"define the drinking edge",
|
| 51 |
+
"provide the opening boundary",
|
| 52 |
+
"guide pouring into the cup",
|
| 53 |
+
"contact the lips during drinking"
|
| 54 |
+
],
|
| 55 |
+
"semantic_description": "Thin circular top edge of the cup opening, silver metallic and reflective, smooth and narrow, located at the upper opening of the goblet.",
|
| 56 |
+
"id": 1,
|
| 57 |
+
"grasp_group": {}
|
| 58 |
+
},
|
| 59 |
+
{
|
| 60 |
+
"part_name": "cup and stem",
|
| 61 |
+
"mask_color": "Blue",
|
| 62 |
+
"graspable": true,
|
| 63 |
+
"grasp_scenarios": [
|
| 64 |
+
{
|
| 65 |
+
"scenario": "grasp the cup around its sides to pick up the goblet",
|
| 66 |
+
"confidence": 0.9
|
| 67 |
+
},
|
| 68 |
+
{
|
| 69 |
+
"scenario": "grasp the slender stem carefully to lift or reposition the goblet",
|
| 70 |
+
"confidence": 0.52
|
| 71 |
+
},
|
| 72 |
+
{
|
| 73 |
+
"scenario": "hold the cup and stem area to stabilize the goblet during placement",
|
| 74 |
+
"confidence": 0.78
|
| 75 |
+
}
|
| 76 |
+
],
|
| 77 |
+
"functional_labels": [
|
| 78 |
+
"contain liquid",
|
| 79 |
+
"provide main grasp surface",
|
| 80 |
+
"elevate the cup above the table",
|
| 81 |
+
"connect the cup to the base",
|
| 82 |
+
"support drinking and pouring"
|
| 83 |
+
],
|
| 84 |
+
"semantic_description": "Silver metallic cup with a slender central stem, glossy, reflective, and smooth, hard and somewhat delicate, forming the main upper vessel and narrow vertical support above the base.",
|
| 85 |
+
"id": 2,
|
| 86 |
+
"grasp_group": {
|
| 87 |
+
"grasp_20": {
|
| 88 |
+
"confidence": 0.9885137677192688,
|
| 89 |
+
"position": [
|
| 90 |
+
-0.027551196806598455,
|
| 91 |
+
0.09619927749736235,
|
| 92 |
+
0.03138929512351751
|
| 93 |
+
],
|
| 94 |
+
"orientation": {
|
| 95 |
+
"w": 0.07494112113297727,
|
| 96 |
+
"xyz": [
|
| 97 |
+
-0.12888624113147767,
|
| 98 |
+
0.6957944170841792,
|
| 99 |
+
-0.7025968220571586
|
| 100 |
+
]
|
| 101 |
+
}
|
| 102 |
+
},
|
| 103 |
+
"grasp_21": {
|
| 104 |
+
"confidence": 0.9877837300300598,
|
| 105 |
+
"position": [
|
| 106 |
+
-0.012717214704025537,
|
| 107 |
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-0.10095590009586886,
|
| 108 |
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0.01047103013843298
|
| 109 |
+
],
|
| 110 |
+
"orientation": {
|
| 111 |
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"w": 0.7407404184475076,
|
| 112 |
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"xyz": [
|
| 113 |
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-0.6687636295895915,
|
| 114 |
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0.03380338823260398,
|
| 115 |
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-0.05400158479492366
|
| 116 |
+
]
|
| 117 |
+
}
|
| 118 |
+
},
|
| 119 |
+
"grasp_22": {
|
| 120 |
+
"confidence": 0.9868952631950378,
|
| 121 |
+
"position": [
|
| 122 |
+
0.019285076938103884,
|
| 123 |
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-0.09885961218969896,
|
| 124 |
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0.014710368821397424
|
| 125 |
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],
|
| 126 |
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"orientation": {
|
| 127 |
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"w": 0.7250479624348035,
|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
+
]
|
| 133 |
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}
|
| 134 |
+
},
|
| 135 |
+
"grasp_23": {
|
| 136 |
+
"confidence": 0.9867559671401978,
|
| 137 |
+
"position": [
|
| 138 |
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-0.01899073860840872,
|
| 139 |
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-0.09955235972302034,
|
| 140 |
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0.0053385719656944275
|
| 141 |
+
],
|
| 142 |
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"orientation": {
|
| 143 |
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"w": 0.732809831669272,
|
| 144 |
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"xyz": [
|
| 145 |
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-0.6714879186676537,
|
| 146 |
+
0.014315201634206631,
|
| 147 |
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-0.10903577713029419
|
| 148 |
+
]
|
| 149 |
+
}
|
| 150 |
+
},
|
| 151 |
+
"grasp_24": {
|
| 152 |
+
"confidence": 0.9862751960754395,
|
| 153 |
+
"position": [
|
| 154 |
+
-0.03926938242511824,
|
| 155 |
+
-0.09388336940901354,
|
| 156 |
+
0.009877623058855534
|
| 157 |
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],
|
| 158 |
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"orientation": {
|
| 159 |
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"w": 0.13255244779721745,
|
| 160 |
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"xyz": [
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| 161 |
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0.16103611923113215,
|
| 162 |
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0.6525995227361111,
|
| 163 |
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|
| 164 |
+
]
|
| 165 |
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}
|
| 166 |
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},
|
| 167 |
+
"grasp_25": {
|
| 168 |
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"confidence": 0.986262321472168,
|
| 169 |
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"position": [
|
| 170 |
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0.012407421774696559,
|
| 171 |
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0.10165881708962843,
|
| 172 |
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0.02689757477492094
|
| 173 |
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],
|
| 174 |
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"orientation": {
|
| 175 |
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"w": 0.7245232637050572,
|
| 176 |
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"xyz": [
|
| 177 |
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0.6870321234639872,
|
| 178 |
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-0.022310779465585018,
|
| 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_26": {
|
| 184 |
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"confidence": 0.9862374067306519,
|
| 185 |
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"position": [
|
| 186 |
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|
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|
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|
| 189 |
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],
|
| 190 |
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"orientation": {
|
| 191 |
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"w": 0.7142625949959654,
|
| 192 |
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"xyz": [
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|
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|
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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_28": {
|
| 200 |
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"confidence": 0.9858658313751221,
|
| 201 |
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"position": [
|
| 202 |
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-0.03793171263532713,
|
| 203 |
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-0.09474307700293139,
|
| 204 |
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|
| 205 |
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],
|
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"orientation": {
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|
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"xyz": [
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|
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|
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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_29": {
|
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dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
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|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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oid sha256:9fb0570bb1ac3984b7bd5d35d1e262724e5e9f92b53039d2235cbd5b20cba2dc
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| 3 |
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size 3781072
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