Add asset food/beverages/4f769731c3b15c72bf3371433f5cb3e0
Browse files
.gitattributes
CHANGED
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@@ -6717,3 +6717,4 @@ dataset/food/beverages/3e6adfe99d7a58768cbe66ea047ed392/affordance/mesh_part_seg
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| 6717 |
dataset/food/beverages/474f06d3aec0531f92cdd170b3339b0b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6718 |
dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6719 |
dataset/food/beverages/5293281b4df350b2beb054fe1e552807/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6717 |
dataset/food/beverages/474f06d3aec0531f92cdd170b3339b0b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6718 |
dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6719 |
dataset/food/beverages/5293281b4df350b2beb054fe1e552807/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6720 |
+
dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,721 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "bottle body",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main body to pick up and carry the bottle",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize the bottle while unscrewing the cap",
|
| 14 |
+
"confidence": 0.92
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the body for pouring or repositioning",
|
| 18 |
+
"confidence": 0.89
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain beverage",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"support pouring",
|
| 25 |
+
"support labeling",
|
| 26 |
+
"provide structural enclosure"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large rounded pale green bottle body made of glossy plastic with a smooth surface, occupying most of the object below the neck. One side shows a white printed label with green leaf graphics and text, and the lower exterior transitions into an attached brown fibrous husk-like base.",
|
| 29 |
+
"id": 1,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
+
"confidence": 0.9605025053024292,
|
| 33 |
+
"position": [
|
| 34 |
+
-0.05563953536329791,
|
| 35 |
+
-0.08096953853964806,
|
| 36 |
+
0.05900146532803774
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.20940801842605367,
|
| 40 |
+
"xyz": [
|
| 41 |
+
0.20703365427802262,
|
| 42 |
+
0.6807622635600765,
|
| 43 |
+
0.6707071554171188
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_1": {
|
| 48 |
+
"confidence": 0.9591088891029358,
|
| 49 |
+
"position": [
|
| 50 |
+
-0.02775814587948844,
|
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"semantic_description": "Brown rough fibrous husk-like material attached around the bottom of the bottle, visible prominently in underside views and as small edge regions from the side; it looks like coarse coconut fiber or brush-like strands.",
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"message": "Purple base part is barely segmented and not a distinct physical part; body description also wrongly includes the brown base."
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|
dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/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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oid sha256:e6f448c7254eae1171d7e4a907d18ffe76dd7fbf01efcc680e943d912d48e543
|
| 3 |
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size 3772416
|
dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/beverage_bottle_008.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>
|