Add asset food/beverages/971432c3582d56cbabadeb22ace92df5
Browse files
.gitattributes
CHANGED
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@@ -6731,3 +6731,4 @@ dataset/food/beverages/8abd7ce3480e52f5b0e56f48a792dc31/affordance/mesh_part_seg
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| 6731 |
dataset/food/beverages/8c46285362dd552f81f7bc31f93c62d1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6732 |
dataset/food/beverages/9027eca237845f2f83266aad3ec23ccc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6733 |
dataset/food/beverages/9044112657245b92924b802a8f6d737b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6731 |
dataset/food/beverages/8c46285362dd552f81f7bc31f93c62d1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6732 |
dataset/food/beverages/9027eca237845f2f83266aad3ec23ccc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6733 |
dataset/food/beverages/9044112657245b92924b802a8f6d737b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6734 |
+
dataset/food/beverages/971432c3582d56cbabadeb22ace92df5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/beverages/971432c3582d56cbabadeb22ace92df5/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,703 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "bottle body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main body to pick up and carry the bottle",
|
| 10 |
+
"confidence": 0.94
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize the bottle while unscrewing the cap",
|
| 14 |
+
"confidence": 0.91
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the body to pour or reorient the bottle",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain the beverage",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"support pouring",
|
| 25 |
+
"provide structural shell"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large bulbous pale green plastic bottle body with a glossy smooth finish, rounded coconut-like shape, and printed coconut-themed graphics over much of the lower half.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9489772915840149,
|
| 32 |
+
"position": [
|
| 33 |
+
0.09131893247831613,
|
| 34 |
+
0.0556030054576695,
|
| 35 |
+
0.05720185674726963
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.6112089287612402,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.6237440920516606,
|
| 41 |
+
-0.3415853587782739,
|
| 42 |
+
-0.3473994756782229
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9364832639694214,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.032182357157580554,
|
| 50 |
+
0.10087296413257718,
|
| 51 |
+
0.05677630193531513
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.6924128590012567,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.7035580907144426,
|
| 57 |
+
0.10302036271244619,
|
| 58 |
+
0.12229983870206068
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
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|
dataset/food/beverages/971432c3582d56cbabadeb22ace92df5/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:10b1ebcb173e5f9ebe063f4397aa3f4caffd9e8a789b553b46fe7faabd48697e
|
| 3 |
+
size 3779892
|
dataset/food/beverages/971432c3582d56cbabadeb22ace92df5/beverage_bottle_019.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>NO: {"summary":"Label area is split off, but major body/cap/neck are mostly correct; unsupported missing sleeve-body distinction.","merge_groups":[]}</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>NO: {"summary":"Label area is split off, but major body/cap/neck are mostly correct; unsupported missing sleeve-body distinction.","merge_groups":[]}</PartSegChecker>
|