Add asset kitchen_supplies/tableware/87f03b224f9453c2a0bb8f8dbc8b4b4b
Browse files
.gitattributes
CHANGED
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@@ -7308,3 +7308,4 @@ dataset/kitchen_supplies/tableware/87d669df4270594bb92d919407622c99/affordance/m
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| 7308 |
dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7309 |
dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7310 |
dataset/kitchen_supplies/tableware/891295f43588512b99670541e726ddd7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7308 |
dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7309 |
dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7310 |
dataset/kitchen_supplies/tableware/891295f43588512b99670541e726ddd7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7311 |
+
dataset/kitchen_supplies/tableware/87f03b224f9453c2a0bb8f8dbc8b4b4b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/tableware/87f03b224f9453c2a0bb8f8dbc8b4b4b/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,1484 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "tip of chopstick",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "pinch the metal tip of one chopstick to pick it up from a flat surface",
|
| 10 |
+
"confidence": 0.42
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "lightly hold the tip to stabilize orientation during inspection or placement",
|
| 14 |
+
"confidence": 0.34
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"contact food precisely",
|
| 19 |
+
"form one half of the pinching end",
|
| 20 |
+
"provide fine alignment at the eating end"
|
| 21 |
+
],
|
| 22 |
+
"semantic_description": "A very small tapered metallic silver tip with a reflective smooth surface at the narrow working end of one chopstick.",
|
| 23 |
+
"id": 0,
|
| 24 |
+
"grasp_group": {
|
| 25 |
+
"grasp_2": {
|
| 26 |
+
"confidence": 0.8671875,
|
| 27 |
+
"position": [
|
| 28 |
+
-0.20568186743184924,
|
| 29 |
+
-0.003985273593571037,
|
| 30 |
+
0.00027919367130380124
|
| 31 |
+
],
|
| 32 |
+
"orientation": {
|
| 33 |
+
"w": 0.7040961161707876,
|
| 34 |
+
"xyz": [
|
| 35 |
+
0.023193140968477355,
|
| 36 |
+
0.7092902975665518,
|
| 37 |
+
0.024859830715056364
|
| 38 |
+
]
|
| 39 |
+
}
|
| 40 |
+
},
|
| 41 |
+
"grasp_3": {
|
| 42 |
+
"confidence": 0.8665061593055725,
|
| 43 |
+
"position": [
|
| 44 |
+
-0.20487966341897845,
|
| 45 |
+
-0.003316064307000488,
|
| 46 |
+
-0.0012406161840772256
|
| 47 |
+
],
|
| 48 |
+
"orientation": {
|
| 49 |
+
"w": 0.04837956503564141,
|
| 50 |
+
"xyz": [
|
| 51 |
+
0.7030198950375731,
|
| 52 |
+
0.024737424235695027,
|
| 53 |
+
0.7090913232514591
|
| 54 |
+
]
|
| 55 |
+
}
|
| 56 |
+
},
|
| 57 |
+
"grasp_4": {
|
| 58 |
+
"confidence": 0.8483119010925293,
|
| 59 |
+
"position": [
|
| 60 |
+
-0.20465049846097827,
|
| 61 |
+
-0.00496978493174538,
|
| 62 |
+
-0.001256343544810079
|
| 63 |
+
],
|
| 64 |
+
"orientation": {
|
| 65 |
+
"w": 0.7050539954219767,
|
| 66 |
+
"xyz": [
|
| 67 |
+
0.01938882593130712,
|
| 68 |
+
0.7082433329517698,
|
| 69 |
+
0.03023769663650356
|
| 70 |
+
]
|
| 71 |
+
}
|
| 72 |
+
},
|
| 73 |
+
"grasp_5": {
|
| 74 |
+
"confidence": 0.8404548168182373,
|
| 75 |
+
"position": [
|
| 76 |
+
-0.20480772061273456,
|
| 77 |
+
0.0033835210488177836,
|
| 78 |
+
-0.002235945183201693
|
| 79 |
+
],
|
| 80 |
+
"orientation": {
|
| 81 |
+
"w": 0.12131638615069368,
|
| 82 |
+
"xyz": [
|
| 83 |
+
0.6967269713094624,
|
| 84 |
+
0.04541433755262081,
|
| 85 |
+
0.7055433366179118
|
| 86 |
+
]
|
| 87 |
+
}
|
| 88 |
+
},
|
| 89 |
+
"grasp_6": {
|
| 90 |
+
"confidence": 0.7829521894454956,
|
| 91 |
+
"position": [
|
| 92 |
+
-0.2027464429847896,
|
| 93 |
+
-0.007332759851124138,
|
| 94 |
+
0.003811245449469425
|
| 95 |
+
],
|
| 96 |
+
"orientation": {
|
| 97 |
+
"w": 0.7015303322102127,
|
| 98 |
+
"xyz": [
|
| 99 |
+
0.02341727009725736,
|
| 100 |
+
0.7115592640242401,
|
| 101 |
+
0.031468050964469044
|
| 102 |
+
]
|
| 103 |
+
}
|
| 104 |
+
},
|
| 105 |
+
"grasp_7": {
|
| 106 |
+
"confidence": 0.7826437950134277,
|
| 107 |
+
"position": [
|
| 108 |
+
-0.20147523982450366,
|
| 109 |
+
-0.008448032604064792,
|
| 110 |
+
0.0015175320586422458
|
| 111 |
+
],
|
| 112 |
+
"orientation": {
|
| 113 |
+
"w": 0.705222673232907,
|
| 114 |
+
"xyz": [
|
| 115 |
+
0.013254905647760657,
|
| 116 |
+
0.7081241125969551,
|
| 117 |
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|
dataset/kitchen_supplies/tableware/87f03b224f9453c2a0bb8f8dbc8b4b4b/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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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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| 2 |
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oid sha256:1bf186199b7446834051bbc6c1d81149d3b75da7ca6e9618d46192689105158b
|
| 3 |
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size 69905556
|