Add asset kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b
Browse files
.gitattributes
CHANGED
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@@ -7444,4 +7444,4 @@ dataset/kitchen_supplies/utensils/62532811104d5fadad69ca298ef4db5e/affordance/me
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| 7444 |
dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7445 |
dataset/kitchen_supplies/utensils/6824278dd3fd5c9aaa87f447b82352f2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7446 |
dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7447 |
-
dataset/kitchen_supplies/utensils/
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| 7444 |
dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7445 |
dataset/kitchen_supplies/utensils/6824278dd3fd5c9aaa87f447b82352f2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7446 |
dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7447 |
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dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,546 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "glass body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the glass body around the sides to pick up the shaker",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize and orient the shaker while dispensing salt",
|
| 14 |
+
"confidence": 0.92
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"contain salt",
|
| 19 |
+
"main grasp surface",
|
| 20 |
+
"support shaking to dispense",
|
| 21 |
+
"provide structural body",
|
| 22 |
+
"rest on a surface"
|
| 23 |
+
],
|
| 24 |
+
"semantic_description": "Transparent clear glass body with a smooth glossy hard surface, rounded-square cylindrical shape with gently tapering sides, forming the large lower portion of the shaker and revealing white salt inside.",
|
| 25 |
+
"id": 0,
|
| 26 |
+
"grasp_group": {
|
| 27 |
+
"grasp_4": {
|
| 28 |
+
"confidence": 0.6807538866996765,
|
| 29 |
+
"position": [
|
| 30 |
+
0.008890551122021861,
|
| 31 |
+
0.11713007336948067,
|
| 32 |
+
-0.028899305500090122
|
| 33 |
+
],
|
| 34 |
+
"orientation": {
|
| 35 |
+
"w": 0.7162801425655259,
|
| 36 |
+
"xyz": [
|
| 37 |
+
0.6973521993754274,
|
| 38 |
+
-0.016595017402079693,
|
| 39 |
+
-0.019164362498880077
|
| 40 |
+
]
|
| 41 |
+
}
|
| 42 |
+
},
|
| 43 |
+
"grasp_7": {
|
| 44 |
+
"confidence": 0.6761443018913269,
|
| 45 |
+
"position": [
|
| 46 |
+
0.03112781660456676,
|
| 47 |
+
0.10786481446120888,
|
| 48 |
+
-0.007080036215484142
|
| 49 |
+
],
|
| 50 |
+
"orientation": {
|
| 51 |
+
"w": 0.07919992428169327,
|
| 52 |
+
"xyz": [
|
| 53 |
+
-0.10107286008369055,
|
| 54 |
+
-0.8191323301364939,
|
| 55 |
+
0.5590472919829194
|
| 56 |
+
]
|
| 57 |
+
}
|
| 58 |
+
},
|
| 59 |
+
"grasp_8": {
|
| 60 |
+
"confidence": 0.6734585762023926,
|
| 61 |
+
"position": [
|
| 62 |
+
0.002201771902036853,
|
| 63 |
+
0.11783744639251381,
|
| 64 |
+
-0.02370247896760702
|
| 65 |
+
],
|
| 66 |
+
"orientation": {
|
| 67 |
+
"w": 0.7183982325272131,
|
| 68 |
+
"xyz": [
|
| 69 |
+
0.6956240735316174,
|
| 70 |
+
0.00011173005753484233,
|
| 71 |
+
0.0033339678236955876
|
| 72 |
+
]
|
| 73 |
+
}
|
| 74 |
+
},
|
| 75 |
+
"grasp_10": {
|
| 76 |
+
"confidence": 0.6693763732910156,
|
| 77 |
+
"position": [
|
| 78 |
+
0.060701471360516734,
|
| 79 |
+
-0.10502813511993736,
|
| 80 |
+
-0.05948496516793966
|
| 81 |
+
],
|
| 82 |
+
"orientation": {
|
| 83 |
+
"w": 0.7310993147557855,
|
| 84 |
+
"xyz": [
|
| 85 |
+
-0.6311569717823505,
|
| 86 |
+
-0.18481259120797777,
|
| 87 |
+
0.18160114279692033
|
| 88 |
+
]
|
| 89 |
+
}
|
| 90 |
+
},
|
| 91 |
+
"grasp_13": {
|
| 92 |
+
"confidence": 0.6620125770568848,
|
| 93 |
+
"position": [
|
| 94 |
+
0.00014741763152414933,
|
| 95 |
+
0.11425131803844124,
|
| 96 |
+
-0.026353460736572742
|
| 97 |
+
],
|
| 98 |
+
"orientation": {
|
| 99 |
+
"w": 0.7187048876227962,
|
| 100 |
+
"xyz": [
|
| 101 |
+
0.6949795366349397,
|
| 102 |
+
0.007842608574200383,
|
| 103 |
+
0.02013011814520917
|
| 104 |
+
]
|
| 105 |
+
}
|
| 106 |
+
},
|
| 107 |
+
"grasp_14": {
|
| 108 |
+
"confidence": 0.6619263291358948,
|
| 109 |
+
"position": [
|
| 110 |
+
0.008804543482256122,
|
| 111 |
+
-0.11909497284796089,
|
| 112 |
+
-0.05780776124447584
|
| 113 |
+
],
|
| 114 |
+
"orientation": {
|
| 115 |
+
"w": 0.7253206165079595,
|
| 116 |
+
"xyz": [
|
| 117 |
+
-0.6871057339090313,
|
| 118 |
+
-0.03786689499918816,
|
| 119 |
+
0.019021355392434772
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
},
|
| 123 |
+
"grasp_15": {
|
| 124 |
+
"confidence": 0.6618516445159912,
|
| 125 |
+
"position": [
|
| 126 |
+
0.009219782034051605,
|
| 127 |
+
0.1134863073239103,
|
| 128 |
+
-0.02395517658442259
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+
],
|
| 542 |
+
"quality_check": {
|
| 543 |
+
"success": true,
|
| 544 |
+
"message": "YES"
|
| 545 |
+
}
|
| 546 |
+
}
|
dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2625c31fa3e316b2531647773c62ab9425151976e602c176e846f2fc8370e6ec
|
| 3 |
+
size 1917944
|