Add asset kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b
Browse files
.gitattributes
CHANGED
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@@ -7656,4 +7656,4 @@ dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/affordance/mesh_p
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| 7656 |
dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/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/
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| 7656 |
dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/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/d3ce55c01c6d5e629c8a6a2e65ec266b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,543 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "bottle body",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the bottle body at the midsection to pick up and carry the bottle",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the bottle body to stabilize it while twisting the cap",
|
| 14 |
+
"confidence": 0.93
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the lower body to reposition the bottle on a surface",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain liquid",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"support lifting and carrying",
|
| 25 |
+
"provide structural enclosure",
|
| 26 |
+
"stabilize during opening"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large translucent light cyan-blue plastic bottle body with a smooth slightly glossy surface, rounded cylindrical shape with a tapered shoulder, occupying most of the object below the neck.",
|
| 29 |
+
"id": 3,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_40": {
|
| 32 |
+
"confidence": 0.5895587801933289,
|
| 33 |
+
"position": [
|
| 34 |
+
-0.05089094443246722,
|
| 35 |
+
0.0978857257796335,
|
| 36 |
+
0.09574870578944683
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.7169344114783617,
|
| 40 |
+
"xyz": [
|
| 41 |
+
0.6482361577662125,
|
| 42 |
+
0.20824024336712033,
|
| 43 |
+
0.14976960454336347
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_41": {
|
| 48 |
+
"confidence": 0.5791205167770386,
|
| 49 |
+
"position": [
|
| 50 |
+
-0.07165226293727756,
|
| 51 |
+
0.07922875670919893,
|
| 52 |
+
0.10424691252410412
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.28533559524167745,
|
| 56 |
+
"xyz": [
|
| 57 |
+
-0.23664785248692602,
|
| 58 |
+
0.658088772996809,
|
| 59 |
+
-0.6553629214846982
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_42": {
|
| 64 |
+
"confidence": 0.5753467082977295,
|
| 65 |
+
"position": [
|
| 66 |
+
-0.03154706908389926,
|
| 67 |
+
0.10700377611647127,
|
| 68 |
+
0.10164638422429562
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.11624159976101855,
|
| 72 |
+
"xyz": [
|
| 73 |
+
-0.07590735159199495,
|
| 74 |
+
0.6937876681333748,
|
| 75 |
+
-0.7066715191695099
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_43": {
|
| 80 |
+
"confidence": 0.5658460855484009,
|
| 81 |
+
"position": [
|
| 82 |
+
-0.07129163248464465,
|
| 83 |
+
0.08686231611500261,
|
| 84 |
+
0.09184774570167065
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.6850017698887788,
|
| 88 |
+
"xyz": [
|
| 89 |
+
0.6305978122764974,
|
| 90 |
+
0.2838699508984982,
|
| 91 |
+
0.22920913022438738
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_50": {
|
| 96 |
+
"confidence": 0.5329809784889221,
|
| 97 |
+
"position": [
|
| 98 |
+
-0.0953006069175899,
|
| 99 |
+
0.05715913487802027,
|
| 100 |
+
0.0978101771324873
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.6353418415832724,
|
| 104 |
+
"xyz": [
|
| 105 |
+
0.5747345673151198,
|
| 106 |
+
0.38372972396154714,
|
| 107 |
+
0.3446337482242165
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_54": {
|
| 112 |
+
"confidence": 0.5141924023628235,
|
| 113 |
+
"position": [
|
| 114 |
+
-0.09849110199138522,
|
| 115 |
+
0.05632992623577593,
|
| 116 |
+
0.09669437818229198
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.6311983166236173,
|
| 120 |
+
"xyz": [
|
| 121 |
+
0.5733694895565771,
|
| 122 |
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0.39213539081167315,
|
| 123 |
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0.34505934099821
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_56": {
|
| 128 |
+
"confidence": 0.506350040435791,
|
| 129 |
+
"position": [
|
| 130 |
+
-0.06582429213449359,
|
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| 541 |
+
"message": "Semantic colors are wrong; bottle and neck ring described as blue/green though RGB shows dark bottle with lighter cap area."
|
| 542 |
+
}
|
| 543 |
+
}
|
dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:be6c72de3987c4f247731c1e63d4abf4042d88720c8324edfb0f3d136e4f3111
|
| 3 |
+
size 626328
|