Add asset food/beverages/1334a3de8d445882bfe4d87f3a8170ee
Browse files
.gitattributes
CHANGED
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@@ -6705,3 +6705,4 @@ dataset/food/beverages/0975c7e3e7ee5462a84a0e3129bcca16/affordance/mesh_part_seg
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| 6705 |
dataset/food/beverages/0b87a800c0e8572394ca77d0d7a8221c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6706 |
dataset/food/beverages/0e504668d6ca5ba2badf5d22c35dc7cb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6707 |
dataset/food/beverages/0eefa9d6c5365a55a1de8479b1858824/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6705 |
dataset/food/beverages/0b87a800c0e8572394ca77d0d7a8221c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6706 |
dataset/food/beverages/0e504668d6ca5ba2badf5d22c35dc7cb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6707 |
dataset/food/beverages/0eefa9d6c5365a55a1de8479b1858824/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6708 |
+
dataset/food/beverages/1334a3de8d445882bfe4d87f3a8170ee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/beverages/1334a3de8d445882bfe4d87f3a8170ee/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,699 @@
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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 bottle body from the sides to pick up and move the bottle",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the bottle body to stabilize it while unscrewing the cap",
|
| 14 |
+
"confidence": 0.93
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the bottle body to pour the beverage",
|
| 18 |
+
"confidence": 0.89
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain the beverage",
|
| 23 |
+
"provide the main grasp surface",
|
| 24 |
+
"support pouring",
|
| 25 |
+
"support label placement",
|
| 26 |
+
"protect contents"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large tapered rectangular brown plastic bottle body with a glossy smooth hard surface, broad flat sides, rounded edges, and white printed labels on the front and side.",
|
| 29 |
+
"id": 3,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_20": {
|
| 32 |
+
"confidence": 0.9870699644088745,
|
| 33 |
+
"position": [
|
| 34 |
+
-0.09847795183304697,
|
| 35 |
+
0.013795539707643911,
|
| 36 |
+
-0.023152395151555538
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.5355609643621696,
|
| 40 |
+
"xyz": [
|
| 41 |
+
0.5333748048069265,
|
| 42 |
+
0.45486367861442845,
|
| 43 |
+
0.47094034115372446
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_21": {
|
| 48 |
+
"confidence": 0.9863665699958801,
|
| 49 |
+
"position": [
|
| 50 |
+
-0.09991975838784128,
|
| 51 |
+
-0.003354880987899378,
|
| 52 |
+
-0.02109546586871147
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.5023108876103333,
|
| 56 |
+
"xyz": [
|
| 57 |
+
-0.5085336821003417,
|
| 58 |
+
0.492454781893238,
|
| 59 |
+
-0.4965536770058911
|
| 60 |
+
]
|
| 61 |
+
}
|
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"semantic_description": "Thin ring below the cap, appearing as a narrow light beige plastic band with a slightly glossy hard surface around the bottle neck.",
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"success": true,
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"message": "YES"
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}
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dataset/food/beverages/1334a3de8d445882bfe4d87f3a8170ee/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
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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 sha256:2b8cbe89fb6a20cac4c68c4099b0ff3ceefe37ddb2c04d7297088021f2e1187d
|
| 3 |
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size 3741752
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dataset/food/beverages/1334a3de8d445882bfe4d87f3a8170ee/beverage_bottle_007.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>
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| 59 |
<quality>
|
| 60 |
<PartSegChecker>YES</PartSegChecker>
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