Add asset food/beverages/d086e0a48769538c93522e95808b355c
Browse files
.gitattributes
CHANGED
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@@ -6740,3 +6740,4 @@ dataset/food/beverages/c373b5c030445c3e9e27a1195a9e9ac0/affordance/mesh_part_seg
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| 6740 |
dataset/food/beverages/b81c442fd6ca53c2a34efb13f4293d9c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6741 |
dataset/food/beverages/c56e7915cf8056a0970bfc322dc0adda/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6742 |
dataset/food/beverages/cdead305a2a656628126f45c94b59d90/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6740 |
dataset/food/beverages/b81c442fd6ca53c2a34efb13f4293d9c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6741 |
dataset/food/beverages/c56e7915cf8056a0970bfc322dc0adda/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6742 |
dataset/food/beverages/cdead305a2a656628126f45c94b59d90/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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dataset/food/beverages/d086e0a48769538c93522e95808b355c/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,707 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "bottle cap",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the cap to unscrew and open the bottle",
|
| 10 |
+
"confidence": 0.91
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pinch the cap to reclose the bottle after filling or drinking",
|
| 14 |
+
"confidence": 0.88
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the cap to stabilize the bottle neck during manipulation",
|
| 18 |
+
"confidence": 0.46
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"cover the bottle opening",
|
| 23 |
+
"enable opening and closing",
|
| 24 |
+
"seal the contents",
|
| 25 |
+
"provide grip for twisting"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Small beige plastic cap with a matte to slightly dull finish, hard ribbed texture, and short cylindrical shape mounted at the top of the bottle neck.",
|
| 28 |
+
"id": 2,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9321896433830261,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.08929092210019007,
|
| 34 |
+
-0.0006515682325698435,
|
| 35 |
+
0.086762934923172
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.3498704548179137,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.6080899692898327,
|
| 41 |
+
0.6109739058430911,
|
| 42 |
+
-0.3667807798582606
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9275780916213989,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.10035550367319956,
|
| 50 |
+
0.014227500854758546,
|
| 51 |
+
0.0356159545481205
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.5537512049517026,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.5051159716678358,
|
| 57 |
+
0.48682351529017864,
|
| 58 |
+
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dataset/food/beverages/d086e0a48769538c93522e95808b355c/affordance/mesh_part_seg.glb
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 3739428
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dataset/food/beverages/d086e0a48769538c93522e95808b355c/beverage_bottle_017.urdf
CHANGED
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@@ -54,6 +54,7 @@
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|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
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| 55 |
</geometry>
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</visual_seg>
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