Add asset kitchen_supplies/tableware/1608139b10e95f019987b0e54df62f34
Browse files
.gitattributes
CHANGED
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@@ -8436,3 +8436,4 @@ dataset/kitchen_supplies/tableware/1328ed114176584e8c6eec439a93e75f/affordance/m
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| 8436 |
dataset/kitchen_supplies/tableware/145c254862ca5b17a09a3864a865a5fe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8437 |
dataset/kitchen_supplies/tableware/14bbaa909af054b186be8fab8e25530d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8438 |
dataset/kitchen_supplies/tableware/13a13d1f008f5438be08b2b8ea107a71/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8436 |
dataset/kitchen_supplies/tableware/145c254862ca5b17a09a3864a865a5fe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8437 |
dataset/kitchen_supplies/tableware/14bbaa909af054b186be8fab8e25530d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8438 |
dataset/kitchen_supplies/tableware/13a13d1f008f5438be08b2b8ea107a71/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8439 |
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dataset/kitchen_supplies/tableware/1608139b10e95f019987b0e54df62f34/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/tableware/1608139b10e95f019987b0e54df62f34/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,511 @@
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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 move the spoon",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle to position the spoon for serving or stirring",
|
| 14 |
+
"confidence": 0.94
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp near the end of the handle to hang or retrieve the spoon by the hole end",
|
| 18 |
+
"confidence": 0.62
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grip area",
|
| 23 |
+
"support manipulation",
|
| 24 |
+
"provide reach and leverage",
|
| 25 |
+
"orient the spoon",
|
| 26 |
+
"allow hanging storage"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Long narrow gold-toned metal handle with a reflective smooth hard surface, slightly tapered and gently curved, extending from the bowl and ending in a small hanging hole.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_1": {
|
| 32 |
+
"confidence": 0.9885376691818237,
|
| 33 |
+
"position": [
|
| 34 |
+
-0.08835581317543983,
|
| 35 |
+
0.10842275945469737,
|
| 36 |
+
0.012017738656140864
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.44605307912798353,
|
| 40 |
+
"xyz": [
|
| 41 |
+
0.506387817062996,
|
| 42 |
+
0.5081143154455069,
|
| 43 |
+
-0.5351895662005778
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_2": {
|
| 48 |
+
"confidence": 0.9674372673034668,
|
| 49 |
+
"position": [
|
| 50 |
+
-0.13706406578421593,
|
| 51 |
+
0.09409413812682033,
|
| 52 |
+
0.0345139546552673
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.3493481981033018,
|
| 56 |
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"xyz": [
|
| 57 |
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0.6657225968527855,
|
| 58 |
+
-0.4161649293182039,
|
| 59 |
+
0.5114450235627814
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_3": {
|
| 64 |
+
"confidence": 0.967003583908081,
|
| 65 |
+
"position": [
|
| 66 |
+
-0.005642648786306381,
|
| 67 |
+
0.09716886607930064,
|
| 68 |
+
0.013746033073402941
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.542010758775733,
|
| 72 |
+
"xyz": [
|
| 73 |
+
0.5064756249518237,
|
| 74 |
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-0.5371394840029013,
|
| 75 |
+
0.401482195652697
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_4": {
|
| 80 |
+
"confidence": 0.9640212059020996,
|
| 81 |
+
"position": [
|
| 82 |
+
-0.009761784225702286,
|
| 83 |
+
0.09829137800261378,
|
| 84 |
+
0.010586757794953883
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.5244088945317475,
|
| 88 |
+
"xyz": [
|
| 89 |
+
0.5192757123645566,
|
| 90 |
+
-0.5093570339442944,
|
| 91 |
+
0.4426098257559847
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_5": {
|
| 96 |
+
"confidence": 0.9558904767036438,
|
| 97 |
+
"position": [
|
| 98 |
+
0.02373021561652422,
|
| 99 |
+
0.09084640024229884,
|
| 100 |
+
0.004804063937626779
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.6039330069235161,
|
| 104 |
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"xyz": [
|
| 105 |
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0.4349942581276507,
|
| 106 |
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-0.5703136947318783,
|
| 107 |
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0.34754454123977985
|
| 108 |
+
]
|
| 109 |
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}
|
| 110 |
+
},
|
| 111 |
+
"grasp_8": {
|
| 112 |
+
"confidence": 0.884213924407959,
|
| 113 |
+
"position": [
|
| 114 |
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-0.04249059036374092,
|
| 115 |
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-0.09158302517607808,
|
| 116 |
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0.009666558005847037
|
| 117 |
+
],
|
| 118 |
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"orientation": {
|
| 119 |
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"w": 0.40990179339441235,
|
| 120 |
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"xyz": [
|
| 121 |
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-0.5968269967405803,
|
| 122 |
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-0.4045357350402359,
|
| 123 |
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-0.5586849691992084
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_9": {
|
| 128 |
+
"confidence": 0.8052747845649719,
|
| 129 |
+
"position": [
|
| 130 |
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-0.05114990100264549,
|
| 131 |
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-0.08452674420550466,
|
| 132 |
+
-8.415698539465666e-05
|
| 133 |
+
],
|
| 134 |
+
"orientation": {
|
| 135 |
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"w": 0.5921296152772547,
|
| 136 |
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"xyz": [
|
| 137 |
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-0.30628518104294467,
|
| 138 |
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0.6205253298760394,
|
| 139 |
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0.41294094198484776
|
| 140 |
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]
|
| 141 |
+
}
|
| 142 |
+
},
|
| 143 |
+
"grasp_10": {
|
| 144 |
+
"confidence": 0.7464128136634827,
|
| 145 |
+
"position": [
|
| 146 |
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0.03599331877194345,
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dataset/kitchen_supplies/tableware/1608139b10e95f019987b0e54df62f34/affordance/mesh_part_seg.glb
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 679892
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