Add asset food/beverages/2c2ca4b812955801a9f575c6eb23ba8d
Browse files
.gitattributes
CHANGED
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@@ -6711,3 +6711,4 @@ dataset/food/beverages/1a29b165d8c654b6907ad84ca139fbd3/affordance/mesh_part_seg
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| 6711 |
dataset/food/beverages/25a6c1716d475b0dbdf032eedce4df1f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6712 |
dataset/food/beverages/24e6da9980925a02bee96e209ec5aae8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6713 |
dataset/food/beverages/289623b44a705b80bfd7758b298f4b68/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6711 |
dataset/food/beverages/25a6c1716d475b0dbdf032eedce4df1f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6712 |
dataset/food/beverages/24e6da9980925a02bee96e209ec5aae8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6713 |
dataset/food/beverages/289623b44a705b80bfd7758b298f4b68/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6714 |
+
dataset/food/beverages/2c2ca4b812955801a9f575c6eb23ba8d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/beverages/2c2ca4b812955801a9f575c6eb23ba8d/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "carton body",
|
| 5 |
+
"mask_color": "Lime Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the sidewalls to pick up and move the milk carton",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize the carton while pouring",
|
| 14 |
+
"confidence": 0.91
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "clamp the lower body for shelf retrieval or placement",
|
| 18 |
+
"confidence": 0.89
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain liquid",
|
| 23 |
+
"provide main grasp surface",
|
| 24 |
+
"support lifting and carrying",
|
| 25 |
+
"stabilize during pouring",
|
| 26 |
+
"support standing on a surface"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large rectangular paperboard body with a mostly white surface printed with broad blue wavy bands and a nutrition label panel, smooth slightly matte finish, and broad flat sides forming the main lower portion of the carton.",
|
| 29 |
+
"id": 9,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_20": {
|
| 32 |
+
"confidence": 0.982918381690979,
|
| 33 |
+
"position": [
|
| 34 |
+
-0.10513357358286157,
|
| 35 |
+
-0.0042762887314893305,
|
| 36 |
+
0.029942456632852554
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.37943772987420404,
|
| 40 |
+
"xyz": [
|
| 41 |
+
-0.6105678012892067,
|
| 42 |
+
0.5826482248186894,
|
| 43 |
+
-0.3791503861166484
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_21": {
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dataset/food/beverages/2c2ca4b812955801a9f575c6eb23ba8d/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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| 2 |
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oid sha256:ba47e4ddaaf4011d644fd2afce61c5802affa64aa7657e7934f1ffb927bc71e4
|
| 3 |
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size 3783828
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dataset/food/beverages/2c2ca4b812955801a9f575c6eb23ba8d/milk_carton_013.urdf
CHANGED
|
@@ -54,6 +54,7 @@
|
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
|
|
|
| 57 |
</affordance>
|
| 58 |
<quality>
|
| 59 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
| 57 |
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 58 |
</affordance>
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| 59 |
<quality>
|
| 60 |
<PartSegChecker>YES</PartSegChecker>
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