Add asset food/beverages/0975c7e3e7ee5462a84a0e3129bcca16
Browse files
.gitattributes
CHANGED
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@@ -6701,3 +6701,4 @@ dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/affordanc
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| 6701 |
dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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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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| 6701 |
dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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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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dataset/food/beverages/0975c7e3e7ee5462a84a0e3129bcca16/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,1606 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "bottle body",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the narrowed waist of the bottle body to pick up and carry the bottle",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize the bottle while opening or closing the cap",
|
| 14 |
+
"confidence": 0.94
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the body to control the bottle while pouring or drinking",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain liquid",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"support lifting and carrying",
|
| 25 |
+
"enable pouring",
|
| 26 |
+
"provide structural body"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Translucent light blue plastic main body with a smooth semi-gloss surface, molded waist, and spiral contouring, forming the central portion of the bottle below the label and above the bottom base.",
|
| 29 |
+
"id": 3,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_40": {
|
| 32 |
+
"confidence": 0.9843418002128601,
|
| 33 |
+
"position": [
|
| 34 |
+
0.098897575866431,
|
| 35 |
+
0.023083756357664242,
|
| 36 |
+
-0.021497313893632963
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.5434803902159698,
|
| 40 |
+
"xyz": [
|
| 41 |
+
0.5584573688991524,
|
| 42 |
+
-0.4509966530963073,
|
| 43 |
+
-0.43515106741091975
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_41": {
|
| 48 |
+
"confidence": 0.9841283559799194,
|
| 49 |
+
"position": [
|
| 50 |
+
0.09745861543342471,
|
| 51 |
+
0.02127203778945841,
|
| 52 |
+
-0.015439328766660765
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.5423877505065223,
|
| 56 |
+
"xyz": [
|
| 57 |
+
0.5569795661256242,
|
| 58 |
+
-0.43929178646824474,
|
| 59 |
+
-0.45012444652620653
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
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}
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|
dataset/food/beverages/0975c7e3e7ee5462a84a0e3129bcca16/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:d3e2b14a1314fd6a6185723ac21e4e9f9420ef95922404eced3348c86dff85d9
|
| 3 |
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size 3787276
|
dataset/food/beverages/0975c7e3e7ee5462a84a0e3129bcca16/beverage_bottle_014.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>
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