Add asset kitchen_supplies/ware/4bcd6f9b5d36505cb79a97c1c5ba31ef
Browse files
.gitattributes
CHANGED
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@@ -7556,4 +7556,4 @@ dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/affordance/mesh_p
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| 7556 |
dataset/kitchen_supplies/ware/49bfb01f037d5bae95992404167333cc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7557 |
dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7558 |
dataset/kitchen_supplies/ware/4b2bd6998bcd577386fb9f69f393b2ab/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7559 |
-
dataset/kitchen_supplies/ware/
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| 7556 |
dataset/kitchen_supplies/ware/49bfb01f037d5bae95992404167333cc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7557 |
dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7558 |
dataset/kitchen_supplies/ware/4b2bd6998bcd577386fb9f69f393b2ab/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7559 |
+
dataset/kitchen_supplies/ware/4bcd6f9b5d36505cb79a97c1c5ba31ef/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/ware/4bcd6f9b5d36505cb79a97c1c5ba31ef/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,610 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "bottle cap",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the cap to unscrew and open the bottle",
|
| 10 |
+
"confidence": 0.87
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp the cap to stabilize the bottle top during manipulation",
|
| 14 |
+
"confidence": 0.58
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pinch the cap to lift or reposition the lightweight bottle briefly",
|
| 18 |
+
"confidence": 0.34
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"seal the bottle opening",
|
| 23 |
+
"enable opening and closing",
|
| 24 |
+
"provide a twisting interface",
|
| 25 |
+
"prevent spills"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Small blue plastic cap at the top with a slightly glossy finish, hard ridged sides for traction, cylindrical shape, and compact size relative to the bottle.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9715724587440491,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.09266709280200303,
|
| 34 |
+
0.046523998826160096,
|
| 35 |
+
0.13722698017954826
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.5042483363510522,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.696738406316916,
|
| 41 |
+
0.38760751060566334,
|
| 42 |
+
0.33173728486897747
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_2": {
|
| 47 |
+
"confidence": 0.9697637557983398,
|
| 48 |
+
"position": [
|
| 49 |
+
0.04272264870814979,
|
| 50 |
+
-0.07997493878065143,
|
| 51 |
+
0.15442224964499474
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.12409013781985176,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.2158198016499726,
|
| 57 |
+
-0.8295358612230835,
|
| 58 |
+
-0.4998936945556466
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_3": {
|
| 63 |
+
"confidence": 0.9642238020896912,
|
| 64 |
+
"position": [
|
| 65 |
+
0.04595441254787147,
|
| 66 |
+
-0.07638439223228488,
|
| 67 |
+
0.15280568227171898
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.483715956697557,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.828523856716521,
|
| 73 |
+
-0.258797006736484,
|
| 74 |
+
0.11221052264375866
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_4": {
|
| 79 |
+
"confidence": 0.9641671180725098,
|
| 80 |
+
"position": [
|
| 81 |
+
0.052963371155783534,
|
| 82 |
+
-0.08944715991674457,
|
| 83 |
+
0.10969476029276848
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.6833267622560969,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.6850128992146886,
|
| 89 |
+
-0.18235806920188158,
|
| 90 |
+
0.1748353468010648
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_6": {
|
| 95 |
+
"confidence": 0.9637982845306396,
|
| 96 |
+
"position": [
|
| 97 |
+
0.05126684787683189,
|
| 98 |
+
-0.06980589464365039,
|
| 99 |
+
0.15783442184329033
|
| 100 |
+
],
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dataset/kitchen_supplies/ware/4bcd6f9b5d36505cb79a97c1c5ba31ef/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 sha256:02d38a884b54038a6f933920c7e60fc1a60a811910c0350a4d4315ff34665507
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| 3 |
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size 2052224
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