Add asset food/beverages/eaa17cfd5f105b2884a03e6302ca52df
Browse files
.gitattributes
CHANGED
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@@ -6743,3 +6743,4 @@ dataset/food/beverages/cdead305a2a656628126f45c94b59d90/affordance/mesh_part_seg
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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/deb1095a3fe15233a36132f650ccbc79/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/deb1095a3fe15233a36132f650ccbc79/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6746 |
+
dataset/food/beverages/eaa17cfd5f105b2884a03e6302ca52df/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/beverages/eaa17cfd5f105b2884a03e6302ca52df/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,535 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "can body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the cylindrical sidewall to pick up the can",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize the can during placement",
|
| 14 |
+
"confidence": 0.94
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the body for reorientation or transport",
|
| 18 |
+
"confidence": 0.95
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"contain beverage",
|
| 24 |
+
"support printed label",
|
| 25 |
+
"provide structural shell"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Tall cylindrical aluminum body with a glossy smooth hard surface, predominantly red and white with Coca-Cola branding and cherry graphics, forming the main central sidewall of the can.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.982368528842926,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.023894874553661793,
|
| 34 |
+
-0.09715396130923182,
|
| 35 |
+
-0.010185543447732925
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.10576179671915802,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.08268409660936077,
|
| 41 |
+
0.6909274559226031,
|
| 42 |
+
0.7103499371260255
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9806632399559021,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.013854981574695557,
|
| 50 |
+
-0.1010185923660174,
|
| 51 |
+
-0.0012221012730151415
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.04781920527099896,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.06577794389798905,
|
| 57 |
+
0.7405730854288628,
|
| 58 |
+
0.667036798716666
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.98023521900177,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.10070998984156176,
|
| 66 |
+
0.005211016978137195,
|
| 67 |
+
-0.01730650383979082
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.5235660850076207,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.4956119877435795,
|
| 73 |
+
0.49616946218841607,
|
| 74 |
+
0.4838007617049698
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_3": {
|
| 79 |
+
"confidence": 0.9800513982772827,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.018422676424961537,
|
| 82 |
+
-0.10077044332865626,
|
| 83 |
+
-0.007030668668448925
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.06798736318362454,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.06867392690645158,
|
| 89 |
+
0.7230695284317725,
|
| 90 |
+
0.6839825050862339
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_4": {
|
| 95 |
+
"confidence": 0.9797971844673157,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.09977874177275226,
|
| 98 |
+
-0.003860660013742745,
|
| 99 |
+
-0.01308394968509674
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.5077861889668245,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.48247842843137145,
|
| 105 |
+
0.5093907024093898,
|
| 106 |
+
0.4998888523380077
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_5": {
|
| 111 |
+
"confidence": 0.9792992472648621,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.06023649143753573,
|
| 114 |
+
-0.08181280607823282,
|
| 115 |
+
-0.00396462029311806
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.6744308016736859,
|
| 119 |
+
"xyz": [
|
| 120 |
+
-0.6678335695909731,
|
| 121 |
+
0.21016600788203543,
|
| 122 |
+
-0.23446037237046413
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_6": {
|
| 127 |
+
"confidence": 0.9786338806152344,
|
| 128 |
+
"position": [
|
| 129 |
+
-0.09642258303938434,
|
| 130 |
+
-0.011010172427631915,
|
| 131 |
+
0.022556602954864502
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.44729289042119,
|
| 135 |
+
"xyz": [
|
| 136 |
+
-0.5820516090311042,
|
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],
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],
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|
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|
| 452 |
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{
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],
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|
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|
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],
|
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"semantic_description": "Raised circular silver metal rim at the can base with a smooth hard finish, encircling the bottom edge and acting as the standing support ring.",
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|
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|
| 520 |
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|
| 521 |
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|
| 522 |
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|
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|
| 524 |
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|
| 525 |
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],
|
| 526 |
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"semantic_description": "Circular recessed silver aluminum bottom panel with a smooth slightly concave hard surface, centered underneath the can inside the surrounding base rim.",
|
| 527 |
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|
| 528 |
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|
| 529 |
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}
|
| 530 |
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],
|
| 531 |
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"quality_check": {
|
| 532 |
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"success": true,
|
| 533 |
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"message": "YES"
|
| 534 |
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}
|
| 535 |
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}
|
dataset/food/beverages/eaa17cfd5f105b2884a03e6302ca52df/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d55d478bb0381f56e58057c5972f013e6abc3c09868dfd057fffa1a42034087d
|
| 3 |
+
size 3783964
|