Add asset food/beverages/96096fc7a8e45007ab8f39a9a408fdb1
Browse files
.gitattributes
CHANGED
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@@ -6731,4 +6731,4 @@ dataset/food/beverages/8abd7ce3480e52f5b0e56f48a792dc31/affordance/mesh_part_seg
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| 6731 |
dataset/food/beverages/8c46285362dd552f81f7bc31f93c62d1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6732 |
dataset/food/beverages/9027eca237845f2f83266aad3ec23ccc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6733 |
dataset/food/beverages/9044112657245b92924b802a8f6d737b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6734 |
-
dataset/food/beverages/
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| 6731 |
dataset/food/beverages/8c46285362dd552f81f7bc31f93c62d1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6732 |
dataset/food/beverages/9027eca237845f2f83266aad3ec23ccc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6733 |
dataset/food/beverages/9044112657245b92924b802a8f6d737b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6734 |
+
dataset/food/beverages/96096fc7a8e45007ab8f39a9a408fdb1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/beverages/96096fc7a8e45007ab8f39a9a408fdb1/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,748 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "bottle body",
|
| 5 |
+
"mask_color": "Brown",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the bottle body around the middle to pick up the bottle",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize the bottle while twisting the cap",
|
| 14 |
+
"confidence": 0.92
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the lower body to tilt and pour the drink",
|
| 18 |
+
"confidence": 0.86
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain the beverage",
|
| 23 |
+
"provide the main grasp surface",
|
| 24 |
+
"support pouring",
|
| 25 |
+
"protect contents",
|
| 26 |
+
"provide structure for the bottle"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large translucent orange-tinted plastic bottle body with a smooth glossy surface, tall faceted rectangular shape, broad midsection, and molded petaloid base.",
|
| 29 |
+
"id": 11,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
+
"confidence": 0.9739887714385986,
|
| 33 |
+
"position": [
|
| 34 |
+
0.10398325347341597,
|
| 35 |
+
-0.0005648684746120125,
|
| 36 |
+
0.06416397169232368
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
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|
dataset/food/beverages/96096fc7a8e45007ab8f39a9a408fdb1/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:f32c7bafbffc4893bc0186847ba1841bf9536506a3ffc371a2f1959bfebbe8a2
|
| 3 |
+
size 3799392
|
dataset/food/beverages/96096fc7a8e45007ab8f39a9a408fdb1/juice_010.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>
|
| 59 |
<quality>
|
| 60 |
<PartSegChecker>YES</PartSegChecker>
|