Add asset food/beverages/0023f22f7fb05e75b4406043827b9e75
Browse files
.gitattributes
CHANGED
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@@ -6702,4 +6702,4 @@ dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/affordanc
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| 6702 |
dataset/food/beverages/0291489507675507a7effd08fde3535b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6703 |
dataset/food/beverages/08b363f8cb3b5558a340fe4413a97fd8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6704 |
dataset/food/beverages/0975c7e3e7ee5462a84a0e3129bcca16/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6705 |
-
dataset/food/beverages/
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| 6702 |
dataset/food/beverages/0291489507675507a7effd08fde3535b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6703 |
dataset/food/beverages/08b363f8cb3b5558a340fe4413a97fd8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6704 |
dataset/food/beverages/0975c7e3e7ee5462a84a0e3129bcca16/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6705 |
+
dataset/food/beverages/0023f22f7fb05e75b4406043827b9e75/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/beverages/0023f22f7fb05e75b4406043827b9e75/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,458 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "can body",
|
| 5 |
+
"mask_color": "Purple",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the cylindrical body from the side to pick up the can",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize the can during placement",
|
| 14 |
+
"confidence": 0.93
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the body to rotate and orient the opening tab upward",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain beverage",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"support printed branding",
|
| 25 |
+
"provide structural outer surface"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large red cylindrical side wall with a smooth slightly glossy appearance, rigid overall, forming most of the can's exterior; partial white Coca-Cola branding is visible only on some views.",
|
| 28 |
+
"id": 5,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_3": {
|
| 31 |
+
"confidence": 0.9701931476593018,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.10683502187021077,
|
| 34 |
+
-0.018283986020833254,
|
| 35 |
+
0.04518069140613079
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.5312850652920262,
|
| 39 |
+
"xyz": [
|
| 40 |
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-0.5418933737466827,
|
| 41 |
+
0.46376761179763504,
|
| 42 |
+
-0.4571732200540661
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_4": {
|
| 47 |
+
"confidence": 0.9672693014144897,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.10955423046834767,
|
| 50 |
+
-0.01534248748794198,
|
| 51 |
+
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|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.4719304766627304,
|
| 55 |
+
"xyz": [
|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_5": {
|
| 63 |
+
"confidence": 0.9635345339775085,
|
| 64 |
+
"position": [
|
| 65 |
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-0.10903335292823613,
|
| 66 |
+
0.007946285419166088,
|
| 67 |
+
0.04874902404844761
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.5286892937888745,
|
| 71 |
+
"xyz": [
|
| 72 |
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|
| 73 |
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|
| 74 |
+
0.4674605511772854
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_6": {
|
| 79 |
+
"confidence": 0.9608336091041565,
|
| 80 |
+
"position": [
|
| 81 |
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-0.1115012087393552,
|
| 82 |
+
-0.013519084546715021,
|
| 83 |
+
0.041461432352662086
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.48262800915003395,
|
| 87 |
+
"xyz": [
|
| 88 |
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|
| 89 |
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|
| 90 |
+
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|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_7": {
|
| 95 |
+
"confidence": 0.9607489109039307,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.10487484117038548,
|
| 98 |
+
-0.015290516894310713,
|
| 99 |
+
0.052846568170934916
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.5202874535919815,
|
| 103 |
+
"xyz": [
|
| 104 |
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-0.5328528331123928,
|
| 105 |
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0.47056754291186353,
|
| 106 |
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-0.4732177209665331
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_8": {
|
| 111 |
+
"confidence": 0.9606067538261414,
|
| 112 |
+
"position": [
|
| 113 |
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-0.10694841225631535,
|
| 114 |
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-0.003671407699584961,
|
| 115 |
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0.03721014782786369
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
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"w": 0.5082488571597596,
|
| 119 |
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"xyz": [
|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_9": {
|
| 127 |
+
"confidence": 0.9603281021118164,
|
| 128 |
+
"position": [
|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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],
|
| 133 |
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"orientation": {
|
| 134 |
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"w": 0.5481344906892723,
|
| 135 |
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"xyz": [
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| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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]
|
| 140 |
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}
|
| 141 |
+
},
|
| 142 |
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"grasp_10": {
|
| 143 |
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"confidence": 0.9599179625511169,
|
| 144 |
+
"position": [
|
| 145 |
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-0.10808087815530598,
|
| 146 |
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|
| 147 |
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0.04081599973142147
|
| 148 |
+
],
|
| 149 |
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"orientation": {
|
| 150 |
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"w": 0.4784262558447952,
|
| 151 |
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"xyz": [
|
| 152 |
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|
| 153 |
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0.5092243747350127,
|
| 154 |
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|
| 155 |
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]
|
| 156 |
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}
|
| 157 |
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},
|
| 158 |
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"grasp_11": {
|
| 159 |
+
"confidence": 0.9598556756973267,
|
| 160 |
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"position": [
|
| 161 |
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-0.10706401546485722,
|
| 162 |
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0.0020766303641721606,
|
| 163 |
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0.04337738547474146
|
| 164 |
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],
|
| 165 |
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"orientation": {
|
| 166 |
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"w": 0.524763283937102,
|
| 167 |
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"xyz": [
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| 168 |
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|
| 169 |
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|
| 170 |
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| 356 |
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| 357 |
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| 361 |
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],
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"semantic_description": "Flat circular silver metal lid with a smooth satin finish, set at the top of the can and shaped with shallow stamped contours around the tab area.",
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},
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{
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"part_name": "pull tab",
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{
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},
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{
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"scenario": "grasp the tab to lift and rotate it for puncturing the seal",
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| 378 |
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"confidence": 0.79
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| 379 |
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},
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{
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"scenario": "delicately hold the tab to inspect or reorient the top",
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}
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],
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"lift to break the seal",
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"provide leverage for access"
|
| 389 |
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],
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| 390 |
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"semantic_description": "Small silver metal ring tab with a smooth hard satin surface, mounted on the can lid near the center and shaped as a thin oval lever.",
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| 391 |
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| 392 |
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}
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},
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| 411 |
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{
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| 412 |
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"part_name": "drinking opening area",
|
| 413 |
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|
| 414 |
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|
| 415 |
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|
| 416 |
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"functional_labels": [
|
| 417 |
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"dispense beverage when opened",
|
| 418 |
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"allow drinking access",
|
| 419 |
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"mark the scored outlet region"
|
| 420 |
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],
|
| 421 |
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"semantic_description": "Small oval scored panel area on the silver top lid beneath the pull tab, with a smooth metallic appearance; the actual hole is not visibly opened in these views.",
|
| 422 |
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|
| 423 |
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|
| 424 |
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},
|
| 425 |
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{
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"part_name": "bottom base",
|
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"mask_color": "Yellow",
|
| 428 |
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|
| 429 |
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|
| 430 |
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"functional_labels": [
|
| 431 |
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"support standing",
|
| 432 |
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"stabilize the can on flat surfaces",
|
| 433 |
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"protect the lower edge"
|
| 434 |
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],
|
| 435 |
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"semantic_description": "Circular silver aluminum base with a smooth hard finish and slightly concave inset, located at the bottom of the can and sized to support upright placement.",
|
| 436 |
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"id": 3,
|
| 437 |
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"grasp_group": {}
|
| 438 |
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},
|
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{
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"part_name": "top rim",
|
| 441 |
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|
| 442 |
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"graspable": false,
|
| 443 |
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|
| 444 |
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"functional_labels": [
|
| 445 |
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"reinforce lid edge",
|
| 446 |
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"join lid to body",
|
| 447 |
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"provide top structural boundary"
|
| 448 |
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],
|
| 449 |
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"semantic_description": "Thin raised silver metal rim with a smooth hard finish, circling the top edge where the lid is crimped to the red can body.",
|
| 450 |
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"id": 4,
|
| 451 |
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"grasp_group": {}
|
| 452 |
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}
|
| 453 |
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],
|
| 454 |
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"quality_check": {
|
| 455 |
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"success": true,
|
| 456 |
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"message": "YES"
|
| 457 |
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}
|
| 458 |
+
}
|
dataset/food/beverages/0023f22f7fb05e75b4406043827b9e75/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:1537ec41c66624087d9af7b2224215195685d51cfa462e6dd68b8fc7021f37b0
|
| 3 |
+
size 98445412
|
dataset/food/beverages/0023f22f7fb05e75b4406043827b9e75/coke_001.urdf
CHANGED
|
@@ -52,6 +52,7 @@
|
|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
|
|
|
|
| 55 |
</affordance>
|
| 56 |
<quality>
|
| 57 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
|
| 55 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 56 |
</affordance>
|
| 57 |
<quality>
|
| 58 |
<PartSegChecker>YES</PartSegChecker>
|