Add asset kitchen_supplies/ware/50fac58b59805ec987336ae45518c0d6
Browse files
.gitattributes
CHANGED
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@@ -7560,3 +7560,4 @@ dataset/kitchen_supplies/ware/4b2f84fb58c0593896621e76e1a84edf/affordance/mesh_p
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| 7560 |
dataset/kitchen_supplies/ware/4c5408c550e05b1da7a692cdc8d4c583/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7561 |
dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7562 |
dataset/kitchen_supplies/ware/506f94f34c815686902d6127d833173f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7560 |
dataset/kitchen_supplies/ware/4c5408c550e05b1da7a692cdc8d4c583/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7561 |
dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7562 |
dataset/kitchen_supplies/ware/506f94f34c815686902d6127d833173f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7563 |
+
dataset/kitchen_supplies/ware/50fac58b59805ec987336ae45518c0d6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/ware/50fac58b59805ec987336ae45518c0d6/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,1404 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "lid",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the lid rim to stabilize the travel mug while manipulating the drinking tab",
|
| 10 |
+
"confidence": 0.72
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "lightly grasp the lid area to reposition the mug",
|
| 14 |
+
"confidence": 0.43
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"cover the mug opening",
|
| 19 |
+
"retain heat",
|
| 20 |
+
"provide spill resistance",
|
| 21 |
+
"support drinking access mechanism"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Round black plastic lid with a matte smooth finish and raised circular rim, covering the top of the travel mug and surrounding the drinking opening area.",
|
| 24 |
+
"id": 2,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_33": {
|
| 27 |
+
"confidence": 0.7972176671028137,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.10525244870223105,
|
| 30 |
+
-0.015490075937123038,
|
| 31 |
+
0.04119823453947902
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.46027351135891537,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.4692425661097391,
|
| 37 |
+
0.5350447162228588,
|
| 38 |
+
0.5307418021355418
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_34": {
|
| 43 |
+
"confidence": 0.7875568866729736,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.10498307296074927,
|
| 46 |
+
-0.02958842682710383,
|
| 47 |
+
0.039746690075844526
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.4250785014039988,
|
| 51 |
+
"xyz": [
|
| 52 |
+
0.4304760197220424,
|
| 53 |
+
0.5670967460129335,
|
| 54 |
+
0.5589274950742193
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_35": {
|
| 59 |
+
"confidence": 0.769757091999054,
|
| 60 |
+
"position": [
|
| 61 |
+
-0.10672536888159811,
|
| 62 |
+
-0.008954629665822722,
|
| 63 |
+
0.045969884376972914
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.4759979856850276,
|
| 67 |
+
"xyz": [
|
| 68 |
+
0.482484311500102,
|
| 69 |
+
0.5329698368976923,
|
| 70 |
+
0.5065352502415952
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_36": {
|
| 75 |
+
"confidence": 0.7659927010536194,
|
| 76 |
+
"position": [
|
| 77 |
+
-0.10155692347325385,
|
| 78 |
+
-0.02744207660725806,
|
| 79 |
+
0.06412891251966357
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.3933307326783662,
|
| 83 |
+
"xyz": [
|
| 84 |
+
0.4558047045529326,
|
| 85 |
+
0.6278229117337509,
|
| 86 |
+
0.49332686683401716
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_37": {
|
| 91 |
+
"confidence": 0.7631053924560547,
|
| 92 |
+
"position": [
|
| 93 |
+
0.03287298581562936,
|
| 94 |
+
0.10669461508223321,
|
| 95 |
+
0.03799710376188159
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.10600882978549096,
|
| 99 |
+
"xyz": [
|
| 100 |
+
-0.05908167728507946,
|
| 101 |
+
-0.6942435093689823,
|
| 102 |
+
0.7094345869181543
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_38": {
|
| 107 |
+
"confidence": 0.7598521113395691,
|
| 108 |
+
"position": [
|
| 109 |
+
-0.10490583279170096,
|
| 110 |
+
-0.0009779528045328334,
|
| 111 |
+
0.043415560852736235
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
+
"w": 0.4956022160215149,
|
| 115 |
+
"xyz": [
|
| 116 |
+
0.5068720593504634,
|
| 117 |
+
0.5084753826960035,
|
| 118 |
+
0.4887861946869379
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"grasp_39": {
|
| 123 |
+
"confidence": 0.748938798904419,
|
| 124 |
+
"position": [
|
| 125 |
+
0.03712192899547517,
|
| 126 |
+
0.10212455560395028,
|
| 127 |
+
0.047014284413307905
|
| 128 |
+
],
|
| 129 |
+
"orientation": {
|
| 130 |
+
"w": 0.12448744652028068,
|
| 131 |
+
"xyz": [
|
| 132 |
+
-0.10732855323269856,
|
| 133 |
+
-0.7141650284719202,
|
| 134 |
+
0.6804055918549888
|
| 135 |
+
]
|
| 136 |
+
}
|
| 137 |
+
},
|
| 138 |
+
"grasp_40": {
|
| 139 |
+
"confidence": 0.748788058757782,
|
| 140 |
+
"position": [
|
| 141 |
+
-0.09832961508072913,
|
| 142 |
+
-0.04511160533002112,
|
| 143 |
+
0.04469910217449069
|
| 144 |
+
],
|
| 145 |
+
"orientation": {
|
| 146 |
+
"w": 0.5720947226035239,
|
| 147 |
+
"xyz": [
|
| 148 |
+
-0.6215388115446293,
|
| 149 |
+
0.3813854372038513,
|
| 150 |
+
-0.37542280485036394
|
| 151 |
+
]
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"grasp_41": {
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dataset/kitchen_supplies/ware/50fac58b59805ec987336ae45518c0d6/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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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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| 2 |
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oid sha256:9435079f4104f24eaae51e47a0211e44cd2859afdf79f1e53727713ad7d44181
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| 3 |
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size 3784708
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