Add asset food/beverages/6a946c5ecd805380b02b71b8d443e4c6
Browse files
.gitattributes
CHANGED
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@@ -6724,4 +6724,4 @@ dataset/food/beverages/68ba87cdcd7c5733b5d521b040ed33ce/affordance/mesh_part_seg
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| 6724 |
dataset/food/beverages/67cfac8a0aaa559799f69895db47a756/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6725 |
dataset/food/beverages/692025f909a651f788746dcaf32e6cc3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6726 |
dataset/food/beverages/69ec6c676d4b57ffafe05f31407a14a6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6727 |
-
dataset/food/beverages/
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| 6724 |
dataset/food/beverages/67cfac8a0aaa559799f69895db47a756/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6725 |
dataset/food/beverages/692025f909a651f788746dcaf32e6cc3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6726 |
dataset/food/beverages/69ec6c676d4b57ffafe05f31407a14a6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6727 |
+
dataset/food/beverages/6a946c5ecd805380b02b71b8d443e4c6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/beverages/6a946c5ecd805380b02b71b8d443e4c6/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,444 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "can body",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the cylindrical side wall to pick up the can",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize the can during transport",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the body to place or reorient the can upright",
|
| 18 |
+
"confidence": 0.91
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain the beverage",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"support lifting and carrying",
|
| 25 |
+
"provide structural enclosure",
|
| 26 |
+
"display branding and product information"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Tall cylindrical aluminum body with a glossy smooth surface, predominantly bright red with white Coca-Cola lettering and holiday graphics including trees, snowflakes, and ornaments, forming the main side wall of the can.",
|
| 29 |
+
"id": 2,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
+
"confidence": 0.9815698862075806,
|
| 33 |
+
"position": [
|
| 34 |
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-0.037283121375367045,
|
| 35 |
+
-0.09481264519854449,
|
| 36 |
+
-0.0029018319910392165
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.6908147307029984,
|
| 40 |
+
"xyz": [
|
| 41 |
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-0.7000868458627532,
|
| 42 |
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|
| 43 |
+
-0.12118512876368735
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_1": {
|
| 48 |
+
"confidence": 0.9815126657485962,
|
| 49 |
+
"position": [
|
| 50 |
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-0.027318092761561275,
|
| 51 |
+
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|
| 52 |
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|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
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"w": 0.6889682982782112,
|
| 56 |
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"xyz": [
|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_2": {
|
| 64 |
+
"confidence": 0.9813210368156433,
|
| 65 |
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"position": [
|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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],
|
| 70 |
+
"orientation": {
|
| 71 |
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"w": 0.6915616401266327,
|
| 72 |
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"xyz": [
|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
+
]
|
| 77 |
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}
|
| 78 |
+
},
|
| 79 |
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"grasp_3": {
|
| 80 |
+
"confidence": 0.9812182188034058,
|
| 81 |
+
"position": [
|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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],
|
| 86 |
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"orientation": {
|
| 87 |
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"w": 0.47869712337405596,
|
| 88 |
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"xyz": [
|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_4": {
|
| 96 |
+
"confidence": 0.981056272983551,
|
| 97 |
+
"position": [
|
| 98 |
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-0.0392850327771157,
|
| 99 |
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-0.09539554882212542,
|
| 100 |
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-0.0033127676870208234
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.687317577610829,
|
| 104 |
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"xyz": [
|
| 105 |
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|
| 106 |
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0.1293445354487588,
|
| 107 |
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|
| 108 |
+
]
|
| 109 |
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}
|
| 110 |
+
},
|
| 111 |
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"grasp_5": {
|
| 112 |
+
"confidence": 0.9807737469673157,
|
| 113 |
+
"position": [
|
| 114 |
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-0.015309585956856608,
|
| 115 |
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-0.09886833894415759,
|
| 116 |
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0.0008665216155350208
|
| 117 |
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],
|
| 118 |
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"orientation": {
|
| 119 |
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"w": 0.696122589929157,
|
| 120 |
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"xyz": [
|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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]
|
| 125 |
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}
|
| 126 |
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},
|
| 127 |
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"grasp_6": {
|
| 128 |
+
"confidence": 0.9803871512413025,
|
| 129 |
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"position": [
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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],
|
| 134 |
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"orientation": {
|
| 135 |
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"w": 0.6924277089127092,
|
| 136 |
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"xyz": [
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| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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]
|
| 141 |
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}
|
| 142 |
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},
|
| 143 |
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"grasp_7": {
|
| 144 |
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"confidence": 0.9802781939506531,
|
| 145 |
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"position": [
|
| 146 |
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|
| 147 |
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-0.09224255252047442,
|
| 148 |
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0.010173376649618149
|
| 149 |
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],
|
| 150 |
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"orientation": {
|
| 151 |
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"w": 0.6833048972161411,
|
| 152 |
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"xyz": [
|
| 153 |
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|
| 154 |
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0.1177937420896823,
|
| 155 |
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-0.12324539821866422
|
| 156 |
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]
|
| 157 |
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}
|
| 158 |
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},
|
| 159 |
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"grasp_8": {
|
| 160 |
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"confidence": 0.9801135659217834,
|
| 161 |
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"position": [
|
| 162 |
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|
| 163 |
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|
| 164 |
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0.005129905417561531
|
| 165 |
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],
|
| 166 |
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"orientation": {
|
| 167 |
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"w": 0.6966574786723568,
|
| 168 |
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"xyz": [
|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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]
|
| 173 |
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}
|
| 174 |
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},
|
| 175 |
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"grasp_9": {
|
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],
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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": "Small silver aluminum ring-pull tab with a smooth reflective finish, lying flat on the lid and sized for fingertip or small gripper engagement.",
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},
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{
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"part_name": "rivet of can tab",
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|
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|
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"anchor the pull tab",
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"act as tab pivot point",
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"connect tab to lid"
|
| 405 |
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],
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"semantic_description": "Tiny circular silver metal rivet with a smooth reflective surface at the center of the tab assembly, fastening the pull tab to the lid.",
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},
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{
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"part_name": "drinking opening",
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"dispense beverage",
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"vent liquid flow"
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],
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"semantic_description": "Small dark oval opening beneath the raised tab area on the top lid, recessed into the metal top and serving as the mouth of the can.",
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| 422 |
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},
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{
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"part_name": "top rim",
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"reinforce the top edge",
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"help define top boundary",
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"provide structural stiffness"
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| 434 |
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],
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| 435 |
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"semantic_description": "Narrow circular silver metal rim with a smooth slightly reflective finish around the top perimeter, forming the raised edge where the lid meets the body.",
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| 436 |
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"id": 4,
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| 437 |
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}
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],
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| 440 |
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"quality_check": {
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| 441 |
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"success": false,
|
| 442 |
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"message": "Can body color/graphics description is inaccurate; top lid graspability too strict for robotic stabilization."
|
| 443 |
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}
|
| 444 |
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}
|
dataset/food/beverages/6a946c5ecd805380b02b71b8d443e4c6/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5ff7962322e3d1eedfe2005951649d846b37d281dd9ba5beed4adfdc8a62c712
|
| 3 |
+
size 3781796
|
dataset/food/beverages/6a946c5ecd805380b02b71b8d443e4c6/canned_coke_020.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 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 58 |
</affordance>
|
| 59 |
<quality>
|
| 60 |
<PartSegChecker>YES</PartSegChecker>
|