Add asset food/beverages/8abd7ce3480e52f5b0e56f48a792dc31
Browse files
.gitattributes
CHANGED
|
@@ -6727,3 +6727,4 @@ dataset/food/beverages/69ec6c676d4b57ffafe05f31407a14a6/affordance/mesh_part_seg
|
|
| 6727 |
dataset/food/beverages/6a946c5ecd805380b02b71b8d443e4c6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6728 |
dataset/food/beverages/74a9fa56c020561db6221363d9156c64/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6729 |
dataset/food/beverages/84d18faff79151c59cfadada9216a5ee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 6727 |
dataset/food/beverages/6a946c5ecd805380b02b71b8d443e4c6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6728 |
dataset/food/beverages/74a9fa56c020561db6221363d9156c64/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6729 |
dataset/food/beverages/84d18faff79151c59cfadada9216a5ee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6730 |
+
dataset/food/beverages/8abd7ce3480e52f5b0e56f48a792dc31/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/food/beverages/8abd7ce3480e52f5b0e56f48a792dc31/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,246 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "milk carton body",
|
| 5 |
+
"mask_color": "Navy",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the carton from the side faces to pick up and move it",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the carton body to stabilize it while drinking through the straw",
|
| 14 |
+
"confidence": 0.92
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the body to tilt and reposition the carton during use",
|
| 18 |
+
"confidence": 0.85
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain liquid",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"support lifting and carrying",
|
| 25 |
+
"provide printed branding and label surface",
|
| 26 |
+
"provide structural support for the package"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "A small tapered rectangular drink carton made of smooth coated paperboard or plastic-like material. It is predominantly light blue on the upper body and top, with a light green lower section on several faces. The top has folded seams, and visible faces show colorful printed graphics, Chinese text, and a nutrition label panel.",
|
| 29 |
+
"id": 13,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
+
"confidence": 0.9774903655052185,
|
| 33 |
+
"position": [
|
| 34 |
+
0.10200635925866663,
|
| 35 |
+
0.0033328982535749674,
|
| 36 |
+
-0.016102802474051714
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.503404166270489,
|
| 40 |
+
"xyz": [
|
| 41 |
+
-0.5041614619994774,
|
| 42 |
+
-0.4869592386051471,
|
| 43 |
+
0.5052486175667962
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_1": {
|
| 48 |
+
"confidence": 0.9772383570671082,
|
| 49 |
+
"position": [
|
| 50 |
+
0.09973661438561976,
|
| 51 |
+
0.006233021209482104,
|
| 52 |
+
-0.029864415992051363
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.51068500058339,
|
| 56 |
+
"xyz": [
|
| 57 |
+
0.4902406040231119,
|
| 58 |
+
-0.47762133705215726,
|
| 59 |
+
-0.5203295482083506
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_3": {
|
| 64 |
+
"confidence": 0.9771296381950378,
|
| 65 |
+
"position": [
|
| 66 |
+
0.10087114409543574,
|
| 67 |
+
0.00778837432153523,
|
| 68 |
+
-0.0249638301320374
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.5175922271513137,
|
| 72 |
+
"xyz": [
|
| 73 |
+
0.49741315186747115,
|
| 74 |
+
-0.4925589282821007,
|
| 75 |
+
-0.4920001472676607
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_5": {
|
| 80 |
+
"confidence": 0.9766696691513062,
|
| 81 |
+
"position": [
|
| 82 |
+
0.10123097733594477,
|
| 83 |
+
0.0038778375601395965,
|
| 84 |
+
-0.021337237674742937
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.5023413156899811,
|
| 88 |
+
"xyz": [
|
| 89 |
+
-0.4977135707785576,
|
| 90 |
+
-0.4963375944785141,
|
| 91 |
+
0.503570646802411
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_6": {
|
| 96 |
+
"confidence": 0.9766349792480469,
|
| 97 |
+
"position": [
|
| 98 |
+
0.101883394876495,
|
| 99 |
+
-0.0029424186795949936,
|
| 100 |
+
-0.022652771789580584
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.484453882835173,
|
| 104 |
+
"xyz": [
|
| 105 |
+
0.4849912389944889,
|
| 106 |
+
-0.515771711903206,
|
| 107 |
+
-0.5138749601848203
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_9": {
|
| 112 |
+
"confidence": 0.9759623408317566,
|
| 113 |
+
"position": [
|
| 114 |
+
-0.008885335875675082,
|
| 115 |
+
0.005991007317788899,
|
| 116 |
+
-0.12242001900449395
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.7237218418079576,
|
| 120 |
+
"xyz": [
|
| 121 |
+
-0.019678048373766046,
|
| 122 |
+
0.0118784106723131,
|
| 123 |
+
-0.6897089048737856
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_10": {
|
| 128 |
+
"confidence": 0.9759430289268494,
|
| 129 |
+
"position": [
|
| 130 |
+
-0.0012366027804091573,
|
| 131 |
+
0.004065460292622447,
|
| 132 |
+
-0.12143287668004632
|
| 133 |
+
],
|
| 134 |
+
"orientation": {
|
| 135 |
+
"w": 0.7111541495613527,
|
| 136 |
+
"xyz": [
|
| 137 |
+
0.0060199603028732555,
|
| 138 |
+
0.0021973414309049977,
|
| 139 |
+
-0.7030069041839185
|
| 140 |
+
]
|
| 141 |
+
}
|
| 142 |
+
},
|
| 143 |
+
"grasp_11": {
|
| 144 |
+
"confidence": 0.975784420967102,
|
| 145 |
+
"position": [
|
| 146 |
+
-0.006362051935866475,
|
| 147 |
+
0.0015250623691827059,
|
| 148 |
+
-0.12574587622657418
|
| 149 |
+
],
|
| 150 |
+
"orientation": {
|
| 151 |
+
"w": 0.6691965799583652,
|
| 152 |
+
"xyz": [
|
| 153 |
+
0.01486613020188673,
|
| 154 |
+
0.0237107239454305,
|
| 155 |
+
0.7425582381974033
|
| 156 |
+
]
|
| 157 |
+
}
|
| 158 |
+
},
|
| 159 |
+
"grasp_12": {
|
| 160 |
+
"confidence": 0.9757795333862305,
|
| 161 |
+
"position": [
|
| 162 |
+
0.10251390025950968,
|
| 163 |
+
0.005514698183105793,
|
| 164 |
+
-0.017303260508924723
|
| 165 |
+
],
|
| 166 |
+
"orientation": {
|
| 167 |
+
"w": 0.5100022305739116,
|
| 168 |
+
"xyz": [
|
| 169 |
+
0.5013509057283062,
|
| 170 |
+
-0.48533101462931216,
|
| 171 |
+
-0.5029898611044996
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
},
|
| 175 |
+
"grasp_14": {
|
| 176 |
+
"confidence": 0.975663423538208,
|
| 177 |
+
"position": [
|
| 178 |
+
0.10430254624225199,
|
| 179 |
+
0.00464893487514928,
|
| 180 |
+
-0.025171725545078516
|
| 181 |
+
],
|
| 182 |
+
"orientation": {
|
| 183 |
+
"w": 0.5032634727738813,
|
| 184 |
+
"xyz": [
|
| 185 |
+
0.4930387354925008,
|
| 186 |
+
-0.49323628587719837,
|
| 187 |
+
-0.5102515542059578
|
| 188 |
+
]
|
| 189 |
+
}
|
| 190 |
+
},
|
| 191 |
+
"grasp_17": {
|
| 192 |
+
"confidence": 0.9754727482795715,
|
| 193 |
+
"position": [
|
| 194 |
+
-0.010361226974055171,
|
| 195 |
+
0.004355145734734833,
|
| 196 |
+
-0.11988805094733834
|
| 197 |
+
],
|
| 198 |
+
"orientation": {
|
| 199 |
+
"w": 0.7046868649965593,
|
| 200 |
+
"xyz": [
|
| 201 |
+
0.025253375591655955,
|
| 202 |
+
0.026643485470197903,
|
| 203 |
+
0.7085681435151788
|
| 204 |
+
]
|
| 205 |
+
}
|
| 206 |
+
},
|
| 207 |
+
"grasp_18": {
|
| 208 |
+
"confidence": 0.9752933979034424,
|
| 209 |
+
"position": [
|
| 210 |
+
-0.00037870539381401613,
|
| 211 |
+
0.0006509236991405487,
|
| 212 |
+
-0.12390044191852212
|
| 213 |
+
],
|
| 214 |
+
"orientation": {
|
| 215 |
+
"w": 0.7334129945956706,
|
| 216 |
+
"xyz": [
|
| 217 |
+
-0.004598225436866502,
|
| 218 |
+
0.004575273316567041,
|
| 219 |
+
0.6797523832654956
|
| 220 |
+
]
|
| 221 |
+
}
|
| 222 |
+
},
|
| 223 |
+
"grasp_19": {
|
| 224 |
+
"confidence": 0.9752849340438843,
|
| 225 |
+
"position": [
|
| 226 |
+
0.09992225305177271,
|
| 227 |
+
-0.0005584280006587505,
|
| 228 |
+
-0.013168908189982176
|
| 229 |
+
],
|
| 230 |
+
"orientation": {
|
| 231 |
+
"w": 0.49557332882454946,
|
| 232 |
+
"xyz": [
|
| 233 |
+
0.4831656814559488,
|
| 234 |
+
-0.5164827359159836,
|
| 235 |
+
-0.5041860604198651
|
| 236 |
+
]
|
| 237 |
+
}
|
| 238 |
+
}
|
| 239 |
+
}
|
| 240 |
+
}
|
| 241 |
+
],
|
| 242 |
+
"quality_check": {
|
| 243 |
+
"success": false,
|
| 244 |
+
"message": "Description misidentifies object as real milk carton; it is a toy brick-built carton-like container."
|
| 245 |
+
}
|
| 246 |
+
}
|
dataset/food/beverages/8abd7ce3480e52f5b0e56f48a792dc31/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:23879a5c7fd032906cdc3b7ce51ac961936a51688d427730e1ea6cf45822e212
|
| 3 |
+
size 3827008
|
dataset/food/beverages/8abd7ce3480e52f5b0e56f48a792dc31/milk_carton_014.urdf
CHANGED
|
@@ -47,16 +47,17 @@
|
|
| 47 |
</link>
|
| 48 |
<custom_data>
|
| 49 |
<affordance>
|
| 50 |
-
<part_count>
|
| 51 |
<visual_seg>
|
| 52 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 53 |
<geometry>
|
| 54 |
-
<mesh filename="
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
|
|
|
| 57 |
</affordance>
|
| 58 |
<quality>
|
| 59 |
-
<PartSegChecker>
|
| 60 |
</quality>
|
| 61 |
</custom_data>
|
| 62 |
</robot>
|
|
|
|
| 47 |
</link>
|
| 48 |
<custom_data>
|
| 49 |
<affordance>
|
| 50 |
+
<part_count>1</part_count>
|
| 51 |
<visual_seg>
|
| 52 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 53 |
<geometry>
|
| 54 |
+
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
| 57 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 58 |
</affordance>
|
| 59 |
<quality>
|
| 60 |
+
<PartSegChecker>YES</PartSegChecker>
|
| 61 |
</quality>
|
| 62 |
</custom_data>
|
| 63 |
</robot>
|