Add asset food/beverages/e72a86560f8755cb9d9b8e075cfbeaec
Browse files
.gitattributes
CHANGED
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@@ -6742,3 +6742,4 @@ dataset/food/beverages/c56e7915cf8056a0970bfc322dc0adda/affordance/mesh_part_seg
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| 6742 |
dataset/food/beverages/cdead305a2a656628126f45c94b59d90/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6743 |
dataset/food/beverages/d086e0a48769538c93522e95808b355c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6744 |
dataset/food/beverages/d45abc908aee598bbc1506fa9bf7df1d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6742 |
dataset/food/beverages/cdead305a2a656628126f45c94b59d90/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6743 |
dataset/food/beverages/d086e0a48769538c93522e95808b355c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6744 |
dataset/food/beverages/d45abc908aee598bbc1506fa9bf7df1d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6745 |
+
dataset/food/beverages/e72a86560f8755cb9d9b8e075cfbeaec/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/beverages/e72a86560f8755cb9d9b8e075cfbeaec/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,1331 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "bottle body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the bottle body to pick up and carry the bottle",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the bottle body to pour the beverage",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the bottle body while opening or closing the cap",
|
| 18 |
+
"confidence": 0.87
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain the beverage",
|
| 23 |
+
"provide the main grasp surface",
|
| 24 |
+
"support pouring",
|
| 25 |
+
"protect the contents"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large olive-green translucent glass body with a glossy smooth hard surface, rounded bottle shape, paper label on the side, and it forms most of the container below the neck.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9878342151641846,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.053872028656769544,
|
| 34 |
+
0.08249114242789801,
|
| 35 |
+
0.06225445959717035
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.21836095198162034,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.17470503181627797,
|
| 41 |
+
0.6803704786767192,
|
| 42 |
+
-0.6774161632652163
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9877849817276001,
|
| 48 |
+
"position": [
|
| 49 |
+
0.03288621240062639,
|
| 50 |
+
-0.09623202892544214,
|
| 51 |
+
0.05438894499093294
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.13597207126315164,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.1084794068727221,
|
| 57 |
+
-0.6818545967129895,
|
| 58 |
+
-0.7105055404867141
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.9877057671546936,
|
| 64 |
+
"position": [
|
| 65 |
+
0.03971442364854738,
|
| 66 |
+
0.09012935844657477,
|
| 67 |
+
0.06605225894600153
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.156464621432485,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.1554885493999854,
|
| 73 |
+
-0.6872662548184989,
|
| 74 |
+
0.6921034808706217
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_3": {
|
| 79 |
+
"confidence": 0.9874392151832581,
|
| 80 |
+
"position": [
|
| 81 |
+
0.08927616634173319,
|
| 82 |
+
-0.05165047037007753,
|
| 83 |
+
0.06647484097629786
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.5957420473232675,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.6248695277869797,
|
| 89 |
+
-0.3560117602306221,
|
| 90 |
+
0.3576102807133106
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_4": {
|
| 95 |
+
"confidence": 0.9868218302726746,
|
| 96 |
+
"position": [
|
| 97 |
+
0.08479218342108652,
|
| 98 |
+
0.050706082707620226,
|
| 99 |
+
0.06326561514288187
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.3299452764187603,
|
| 103 |
+
"xyz": [
|
| 104 |
+
-0.3773112023421893,
|
| 105 |
+
-0.6088775814638292,
|
| 106 |
+
0.6148499507577417
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_5": {
|
| 111 |
+
"confidence": 0.986630380153656,
|
| 112 |
+
"position": [
|
| 113 |
+
0.020632747269701213,
|
| 114 |
+
0.09678666827676352,
|
| 115 |
+
0.06429968867450953
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.08548739879920973,
|
| 119 |
+
"xyz": [
|
| 120 |
+
-0.07475413796208631,
|
| 121 |
+
-0.7081200852945246,
|
| 122 |
+
0.6969000418328052
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_6": {
|
| 127 |
+
"confidence": 0.9861032962799072,
|
| 128 |
+
"position": [
|
| 129 |
+
0.02496518165571615,
|
| 130 |
+
-0.09928810062410776,
|
| 131 |
+
0.05537417996674776
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.0731544406826412,
|
| 135 |
+
"xyz": [
|
| 136 |
+
0.11185022415640787,
|
| 137 |
+
-0.6913348033218555,
|
| 138 |
+
-0.7100662961164286
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_7": {
|
| 143 |
+
"confidence": 0.9856695532798767,
|
| 144 |
+
"position": [
|
| 145 |
+
-0.059655109711457044,
|
| 146 |
+
0.0796368175506359,
|
| 147 |
+
0.0531324939802289
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.25112360547222745,
|
| 151 |
+
"xyz": [
|
| 152 |
+
-0.18127352776829847,
|
| 153 |
+
0.6806848914001595,
|
| 154 |
+
-0.6638862263404911
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_8": {
|
| 159 |
+
"confidence": 0.9855548143386841,
|
| 160 |
+
"position": [
|
| 161 |
+
0.09920715697808191,
|
| 162 |
+
-0.015060900957905687,
|
| 163 |
+
0.05988576728850603
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.4375623634990341,
|
| 167 |
+
"xyz": [
|
| 168 |
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0.4999460836251681,
|
| 169 |
+
-0.505280171472572,
|
| 170 |
+
-0.5507132101499329
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"grasp_9": {
|
| 175 |
+
"confidence": 0.9855253100395203,
|
| 176 |
+
"position": [
|
| 177 |
+
-0.04100933513836935,
|
| 178 |
+
-0.09469899746181909,
|
| 179 |
+
0.06190922949463129
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.708358339655967,
|
| 183 |
+
"xyz": [
|
| 184 |
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-0.670004390400765,
|
| 185 |
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0.17447183748867434,
|
| 186 |
+
-0.13741236264203444
|
| 187 |
+
]
|
| 188 |
+
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dataset/food/beverages/e72a86560f8755cb9d9b8e075cfbeaec/affordance/mesh_part_seg.glb
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 3769148
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