Add asset kitchen_supplies/tableware/297491499a4154dd995aef31cf8d36d7
Browse files- .gitattributes +1 -1
- dataset/kitchen_supplies/tableware/297491499a4154dd995aef31cf8d36d7/affordance/affordance_annot.json +622 -0
- dataset/kitchen_supplies/tableware/297491499a4154dd995aef31cf8d36d7/affordance/mesh_part_seg.glb +3 -0
- dataset/kitchen_supplies/tableware/297491499a4154dd995aef31cf8d36d7/spoon_033.urdf +1 -0
.gitattributes
CHANGED
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@@ -7199,4 +7199,4 @@ dataset/kitchen_supplies/storage/ff1ffd4756b2567bad50667ca4a9ca16/affordance/mes
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| 7199 |
dataset/kitchen_supplies/storage/fe9026d72bd954d380701384e4a7f6af/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7200 |
dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7201 |
dataset/kitchen_supplies/tableware/2a845a4248835312834c60c045d2fc4d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7202 |
-
dataset/kitchen_supplies/tableware/
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| 7199 |
dataset/kitchen_supplies/storage/fe9026d72bd954d380701384e4a7f6af/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7200 |
dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7201 |
dataset/kitchen_supplies/tableware/2a845a4248835312834c60c045d2fc4d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7202 |
+
dataset/kitchen_supplies/tableware/297491499a4154dd995aef31cf8d36d7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/tableware/297491499a4154dd995aef31cf8d36d7/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,622 @@
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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": "grasp the bowl to pick up or reposition the spoon when the handle is obstructed",
|
| 10 |
+
"confidence": 0.33
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the bowl to stabilize the spoon during tool handoff or inspection",
|
| 14 |
+
"confidence": 0.29
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"scoop food",
|
| 19 |
+
"hold a small portion",
|
| 20 |
+
"transfer contents",
|
| 21 |
+
"contact food"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Oval shallow silver metal bowl with a reflective smooth hard surface, forming the larger front end of the spoon and blending into a narrow neck.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_0": {
|
| 27 |
+
"confidence": 0.9719056487083435,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.2190690003335476,
|
| 30 |
+
-0.038391882641008124,
|
| 31 |
+
0.04642675584182143
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.11981028276453742,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.8684788493026405,
|
| 37 |
+
-0.08271764612274446,
|
| 38 |
+
-0.473864722761418
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_1": {
|
| 43 |
+
"confidence": 0.9691343307495117,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.2195063792169094,
|
| 46 |
+
0.037294210778782144,
|
| 47 |
+
0.046229863073676825
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.13728252424848805,
|
| 51 |
+
"xyz": [
|
| 52 |
+
0.8646518678364652,
|
| 53 |
+
-0.11151668242622204,
|
| 54 |
+
0.47020706664566847
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_2": {
|
| 59 |
+
"confidence": 0.9683226346969604,
|
| 60 |
+
"position": [
|
| 61 |
+
-0.2150183729827404,
|
| 62 |
+
-0.03600459368317388,
|
| 63 |
+
0.05132284527644515
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.11504849882248372,
|
| 67 |
+
"xyz": [
|
| 68 |
+
-0.8795027466669294,
|
| 69 |
+
-0.08976809172736788,
|
| 70 |
+
-0.4529684881221281
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_3": {
|
| 75 |
+
"confidence": 0.9671278595924377,
|
| 76 |
+
"position": [
|
| 77 |
+
-0.22569937631487846,
|
| 78 |
+
-0.017807049764087424,
|
| 79 |
+
0.05413071205839515
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.10604819622698675,
|
| 83 |
+
"xyz": [
|
| 84 |
+
-0.8818495406794782,
|
| 85 |
+
0.000120094976258589,
|
| 86 |
+
-0.45945092584256714
|
| 87 |
+
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dataset/kitchen_supplies/tableware/297491499a4154dd995aef31cf8d36d7/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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| 2 |
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oid sha256:fdaf9493cfc5d88506602adaec832b316a5efa73b633779ec44a2b8a847e6b79
|
| 3 |
+
size 3778480
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dataset/kitchen_supplies/tableware/297491499a4154dd995aef31cf8d36d7/spoon_033.urdf
CHANGED
|
@@ -57,6 +57,7 @@
|
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
|
|
|
| 60 |
</affordance>
|
| 61 |
<quality>
|
| 62 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
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| 58 |
</geometry>
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| 59 |
</visual_seg>
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| 60 |
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
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| 61 |
</affordance>
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| 62 |
<quality>
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| 63 |
<PartSegChecker>YES</PartSegChecker>
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