Add asset kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a
Browse files
.gitattributes
CHANGED
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@@ -7657,3 +7657,4 @@ dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/affordance/mesh_p
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| 7657 |
dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7658 |
dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7659 |
dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7657 |
dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7658 |
dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7659 |
dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7660 |
+
dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,626 @@
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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 twist and open the bottle",
|
| 10 |
+
"confidence": 0.86
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp the cap to stabilize the bottle top during manipulation",
|
| 14 |
+
"confidence": 0.53
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the cap to lift the empty lightweight bottle briefly",
|
| 18 |
+
"confidence": 0.29
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"cover the bottle opening",
|
| 23 |
+
"enable opening and closing",
|
| 24 |
+
"seal contents",
|
| 25 |
+
"provide top gripping point"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Small blue plastic cap with a slightly glossy hard smooth surface, cylindrical and located at the top, likely ridged for twist-off closure though markings are not clearly visible.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9379006624221802,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.07979309011716396,
|
| 34 |
+
0.029160181409679353,
|
| 35 |
+
0.15975850075483322
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.2803045565065988,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.4893727981747257,
|
| 41 |
+
0.7296253843064645,
|
| 42 |
+
-0.3867692058371786
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9314724206924438,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.09379871387500316,
|
| 50 |
+
0.013042345992289484,
|
| 51 |
+
0.1328612044453621
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.43637309864343116,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.6139916784538927,
|
| 57 |
+
0.5418659253921968,
|
| 58 |
+
0.3727922430370033
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.9314692616462708,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.0958672632696107,
|
| 66 |
+
0.015690902597270906,
|
| 67 |
+
0.12530269473791122
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.3998180400491315,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.5160955013325825,
|
| 73 |
+
0.599177022602291,
|
| 74 |
+
-0.4634413273986202
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_3": {
|
| 79 |
+
"confidence": 0.9304534196853638,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.07213121105451137,
|
| 82 |
+
0.04380182770546526,
|
| 83 |
+
0.15294120460748672
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.23946847125404155,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.41726347911749895,
|
| 89 |
+
0.767558904846442,
|
| 90 |
+
-0.4235556254625165
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_4": {
|
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dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/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 sha256:530ba9066b70d5dd52ac05a5dc761775c0f314c34da9cd21011e65b3794b3cbc
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| 3 |
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size 2266440
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