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- manipulation_1/40453/take_00/affordance_vis_10frames.png +3 -0
- manipulation_1/40453/take_00/metadata.json +1030 -0
- manipulation_1/40453/take_00/video.mp4 +3 -0
- manipulation_1/40453/take_01/affordance_vis_10frames.png +3 -0
- manipulation_1/40453/take_01/metadata.json +1030 -0
- manipulation_1/40453/take_01/video.mp4 +3 -0
- manipulation_1/40453/take_02/affordance/frame_0000.npz +3 -0
- manipulation_1/40453/take_02/affordance/frame_0001.npz +3 -0
- manipulation_1/40453/take_02/affordance/frame_0002.npz +3 -0
- manipulation_1/40453/take_02/affordance/frame_0003.npz +3 -0
- manipulation_1/40453/take_02/affordance/frame_0004.npz +3 -0
- manipulation_1/40453/take_02/affordance/frame_0005.npz +3 -0
- manipulation_1/40453/take_02/affordance/frame_0006.npz +3 -0
- manipulation_1/40453/take_02/affordance/frame_0007.npz +3 -0
- manipulation_1/40453/take_02/affordance/frame_0008.npz +3 -0
- manipulation_1/40453/take_02/affordance/frame_0009.npz +3 -0
- manipulation_1/40453/take_02/affordance/frame_0012.npz +3 -0
- manipulation_1/40453/take_02/affordance/frame_0014.npz +3 -0
- manipulation_1/40453/take_02/affordance/frame_0016.npz +3 -0
- manipulation_1/40453/take_02/affordance/frame_0017.npz +3 -0
- manipulation_1/40453/take_02/affordance/frame_0018.npz +3 -0
- manipulation_1/40453/take_02/affordance/frame_0020.npz +3 -0
- manipulation_1/40453/take_02/affordance/frame_0022.npz +3 -0
- manipulation_1/40453/take_02/affordance_vis_10frames.png +3 -0
- manipulation_1/40453/take_02/metadata.json +1030 -0
- manipulation_1/40453/take_02/video.mp4 +3 -0
- manipulation_1/40453/take_03/affordance_vis_10frames.png +3 -0
- manipulation_1/40453/take_03/metadata.json +1030 -0
- manipulation_1/40453/take_03/video.mp4 +3 -0
- manipulation_1/40453/take_04/affordance_vis_10frames.png +3 -0
- manipulation_1/40453/take_04/metadata.json +1030 -0
- manipulation_1/40453/take_04/video.mp4 +3 -0
- manipulation_1/40453/take_05/affordance_vis_10frames.png +3 -0
- manipulation_1/40453/take_05/metadata.json +1030 -0
- manipulation_1/40453/take_05/video.mp4 +3 -0
- manipulation_1/40453/take_06/affordance/frame_0000.npz +3 -0
- manipulation_1/40453/take_06/affordance/frame_0001.npz +3 -0
- manipulation_1/40453/take_06/affordance/frame_0002.npz +3 -0
- manipulation_1/40453/take_06/affordance/frame_0003.npz +3 -0
- manipulation_1/40453/take_06/affordance/frame_0004.npz +3 -0
- manipulation_1/40453/take_06/affordance/frame_0005.npz +3 -0
- manipulation_1/40453/take_06/affordance/frame_0006.npz +3 -0
- manipulation_1/40453/take_06/affordance/frame_0007.npz +3 -0
- manipulation_1/40453/take_06/affordance/frame_0008.npz +3 -0
- manipulation_1/40453/take_06/affordance/frame_0009.npz +3 -0
- manipulation_1/40453/take_06/affordance/frame_0010.npz +3 -0
- manipulation_1/40453/take_06/affordance/frame_0011.npz +3 -0
- manipulation_1/40453/take_06/affordance/frame_0012.npz +3 -0
- manipulation_1/40453/take_06/affordance/frame_0013.npz +3 -0
- manipulation_1/40453/take_06/affordance/frame_0014.npz +3 -0
manipulation_1/40453/take_00/affordance_vis_10frames.png
ADDED
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Git LFS Details
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manipulation_1/40453/take_00/metadata.json
ADDED
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@@ -0,0 +1,1030 @@
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|
manipulation_1/40453/take_00/video.mp4
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 sha256:241e42288f6faca9ffa25fad1b5a1e0115fc7a1b7899f32844425c86201a6c6c
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| 3 |
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size 28496
|
manipulation_1/40453/take_01/affordance_vis_10frames.png
ADDED
|
Git LFS Details
|
manipulation_1/40453/take_01/metadata.json
ADDED
|
@@ -0,0 +1,1030 @@
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|
| 1 |
+
{
|
| 2 |
+
"object_id": "40453",
|
| 3 |
+
"manipulation_level": 1,
|
| 4 |
+
"active_joints": [
|
| 5 |
+
2
|
| 6 |
+
],
|
| 7 |
+
"total_joints": 3,
|
| 8 |
+
"frames": [
|
| 9 |
+
{
|
| 10 |
+
"frame": 0,
|
| 11 |
+
"take": 1,
|
| 12 |
+
"manipulation_level": 1,
|
| 13 |
+
"active_joints": [
|
| 14 |
+
2
|
| 15 |
+
],
|
| 16 |
+
"joint_positions": [
|
| 17 |
+
0.0
|
| 18 |
+
],
|
| 19 |
+
"cam_pose": [
|
| 20 |
+
-2.795877695083618,
|
| 21 |
+
-0.12755171954631805,
|
| 22 |
+
0.6582382917404175
|
| 23 |
+
],
|
| 24 |
+
"cam_distance": 2.8751485347747803
|
| 25 |
+
},
|
| 26 |
+
{
|
| 27 |
+
"frame": 1,
|
| 28 |
+
"take": 1,
|
| 29 |
+
"manipulation_level": 1,
|
| 30 |
+
"active_joints": [
|
| 31 |
+
2
|
| 32 |
+
],
|
| 33 |
+
"joint_positions": [
|
| 34 |
+
0.008474576286971569
|
| 35 |
+
],
|
| 36 |
+
"cam_pose": [
|
| 37 |
+
-2.795877695083618,
|
| 38 |
+
-0.12755171954631805,
|
| 39 |
+
0.6582382917404175
|
| 40 |
+
],
|
| 41 |
+
"cam_distance": 2.8751485347747803
|
| 42 |
+
},
|
| 43 |
+
{
|
| 44 |
+
"frame": 2,
|
| 45 |
+
"take": 1,
|
| 46 |
+
"manipulation_level": 1,
|
| 47 |
+
"active_joints": [
|
| 48 |
+
2
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ADDED
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manipulation_1/40453/take_02/metadata.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"object_id": "40453",
|
| 3 |
+
"manipulation_level": 1,
|
| 4 |
+
"active_joints": [
|
| 5 |
+
0
|
| 6 |
+
],
|
| 7 |
+
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|
| 8 |
+
"frames": [
|
| 9 |
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{
|
| 10 |
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"frame": 0,
|
| 11 |
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"take": 2,
|
| 12 |
+
"manipulation_level": 1,
|
| 13 |
+
"active_joints": [
|
| 14 |
+
0
|
| 15 |
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],
|
| 16 |
+
"joint_positions": [
|
| 17 |
+
0.0
|
| 18 |
+
],
|
| 19 |
+
"cam_pose": [
|
| 20 |
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|
| 21 |
+
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|
| 22 |
+
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|
| 23 |
+
],
|
| 24 |
+
"cam_distance": 2.7460460662841797
|
| 25 |
+
},
|
| 26 |
+
{
|
| 27 |
+
"frame": 1,
|
| 28 |
+
"take": 2,
|
| 29 |
+
"manipulation_level": 1,
|
| 30 |
+
"active_joints": [
|
| 31 |
+
0
|
| 32 |
+
],
|
| 33 |
+
"joint_positions": [
|
| 34 |
+
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|
| 35 |
+
],
|
| 36 |
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"cam_pose": [
|
| 37 |
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|
| 38 |
+
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|
| 39 |
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|
| 40 |
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],
|
| 41 |
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"cam_distance": 2.7460460662841797
|
| 42 |
+
},
|
| 43 |
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{
|
| 44 |
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"frame": 2,
|
| 45 |
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"take": 2,
|
| 46 |
+
"manipulation_level": 1,
|
| 47 |
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"active_joints": [
|
| 48 |
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0
|
| 49 |
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],
|
| 50 |
+
"joint_positions": [
|
| 51 |
+
0.016949152573943138
|
| 52 |
+
],
|
| 53 |
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"cam_pose": [
|
| 54 |
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|
| 55 |
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|
| 56 |
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0.5963415503501892
|
| 57 |
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],
|
| 58 |
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"cam_distance": 2.7460460662841797
|
| 59 |
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},
|
| 60 |
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{
|
| 61 |
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"frame": 3,
|
| 62 |
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"take": 2,
|
| 63 |
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"manipulation_level": 1,
|
| 64 |
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|
| 65 |
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0
|
| 66 |
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],
|
| 67 |
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|
| 68 |
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|
| 69 |
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],
|
| 70 |
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"cam_pose": [
|
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| 927 |
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{
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| 928 |
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| 929 |
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|
| 930 |
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|
| 931 |
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| 932 |
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| 933 |
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| 934 |
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| 945 |
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| 962 |
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| 964 |
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|
| 981 |
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| 982 |
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| 987 |
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|
| 998 |
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|
| 999 |
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| 1000 |
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|
| 1001 |
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| 1028 |
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| 1029 |
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|
| 1030 |
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}
|
manipulation_1/40453/take_02/video.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a99efe27173d4596b8d6fed90402c571f6c8b5a626be0c54ebb7c3b1117e3727
|
| 3 |
+
size 29376
|
manipulation_1/40453/take_03/affordance_vis_10frames.png
ADDED
|
Git LFS Details
|
manipulation_1/40453/take_03/metadata.json
ADDED
|
@@ -0,0 +1,1030 @@
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|
manipulation_1/40453/take_03/video.mp4
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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oid sha256:b6473ba336d71b147d81ac5ab97f3c550aa218ab32db8004da5d7d71fdf82350
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| 3 |
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size 26391
|
manipulation_1/40453/take_04/affordance_vis_10frames.png
ADDED
|
Git LFS Details
|
manipulation_1/40453/take_04/metadata.json
ADDED
|
@@ -0,0 +1,1030 @@
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| 1 |
+
{
|
| 2 |
+
"object_id": "40453",
|
| 3 |
+
"manipulation_level": 1,
|
| 4 |
+
"active_joints": [
|
| 5 |
+
2
|
| 6 |
+
],
|
| 7 |
+
"total_joints": 3,
|
| 8 |
+
"frames": [
|
| 9 |
+
{
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| 877 |
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| 1030 |
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|
manipulation_1/40453/take_04/video.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:73c2c5e7fcd372174e4c32c913a8bdc59a46f2c36edda54187136dfb14690d7f
|
| 3 |
+
size 31284
|
manipulation_1/40453/take_05/affordance_vis_10frames.png
ADDED
|
Git LFS Details
|
manipulation_1/40453/take_05/metadata.json
ADDED
|
@@ -0,0 +1,1030 @@
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