Add asset kitchen_supplies/tableware/8e2b7f433b7a57b1a31cfe15fefbb8e0
Browse files
.gitattributes
CHANGED
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@@ -7310,3 +7310,4 @@ dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/affordance/m
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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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| 7312 |
dataset/kitchen_supplies/tableware/8ba3eecfaa6b5188823d81f9a9147ea6/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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| 7312 |
dataset/kitchen_supplies/tableware/8ba3eecfaa6b5188823d81f9a9147ea6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7313 |
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dataset/kitchen_supplies/tableware/8e2b7f433b7a57b1a31cfe15fefbb8e0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/tableware/8e2b7f433b7a57b1a31cfe15fefbb8e0/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,590 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "spoon bowl",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "pinch the bowl to pick up or reposition the spoon when the handle is obstructed",
|
| 10 |
+
"confidence": 0.36
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the bowl to stabilize the spoon during inspection or placement",
|
| 14 |
+
"confidence": 0.31
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"scoop liquid",
|
| 19 |
+
"hold a spoonful",
|
| 20 |
+
"transfer soup to mouth",
|
| 21 |
+
"contain small portions"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Small oval concave bowl at one end, made of reflective silver metal with a glossy smooth hard surface and rounded edges, forming the spoon's food-holding head.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_0": {
|
| 27 |
+
"confidence": 0.9658795595169067,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.03294862434267998,
|
| 30 |
+
-0.10078745742794126,
|
| 31 |
+
-0.0037999104242771864
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.3828100220006588,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.582493986260639,
|
| 37 |
+
0.36354264595622565,
|
| 38 |
+
0.6180566216757102
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_1": {
|
| 43 |
+
"confidence": 0.9641711115837097,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.1261341106146574,
|
| 46 |
+
-0.10584693064447492,
|
| 47 |
+
-0.0009664602112025023
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.4885782368040521,
|
| 51 |
+
"xyz": [
|
| 52 |
+
-0.47782584680306756,
|
| 53 |
+
0.5182221871857702,
|
| 54 |
+
0.5142173969798877
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_2": {
|
| 59 |
+
"confidence": 0.9638229608535767,
|
| 60 |
+
"position": [
|
| 61 |
+
-0.04293704591691494,
|
| 62 |
+
-0.09754665603395551,
|
| 63 |
+
-0.025533911073580384
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.4894936782351145,
|
| 67 |
+
"xyz": [
|
| 68 |
+
-0.49423837609288285,
|
| 69 |
+
0.33426764595487013,
|
| 70 |
+
0.6359162739171866
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_3": {
|
| 75 |
+
"confidence": 0.9629580974578857,
|
| 76 |
+
"position": [
|
| 77 |
+
-0.05859523452818394,
|
| 78 |
+
-0.1085802357411012,
|
| 79 |
+
-0.014539476716890931
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.4596189471313369,
|
| 83 |
+
"xyz": [
|
| 84 |
+
-0.4939827047819308,
|
| 85 |
+
0.4357772075526022,
|
| 86 |
+
0.5956758650405988
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_4": {
|
| 91 |
+
"confidence": 0.9622333645820618,
|
| 92 |
+
"position": [
|
| 93 |
+
-0.052625810727477074,
|
| 94 |
+
-0.09932247956749052,
|
| 95 |
+
-0.019812569255009294
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.49864467752879704,
|
| 99 |
+
"xyz": [
|
| 100 |
+
-0.4780637446133874,
|
| 101 |
+
0.39629985773486653,
|
| 102 |
+
0.6047767889211296
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_5": {
|
| 107 |
+
"confidence": 0.9622000455856323,
|
| 108 |
+
"position": [
|
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dataset/kitchen_supplies/tableware/8e2b7f433b7a57b1a31cfe15fefbb8e0/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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oid sha256:4d7cabe2b2287a7b771fff15ea791f8f28b8a961cfab06a717f1dfe65a52f6cb
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| 3 |
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size 436776
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