Add asset food/beverages/5716eb44dcd1539ba44a84a805cd6f3e
Browse files
.gitattributes
CHANGED
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@@ -6718,3 +6718,4 @@ dataset/food/beverages/474f06d3aec0531f92cdd170b3339b0b/affordance/mesh_part_seg
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| 6718 |
dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6719 |
dataset/food/beverages/5293281b4df350b2beb054fe1e552807/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6720 |
dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6718 |
dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6719 |
dataset/food/beverages/5293281b4df350b2beb054fe1e552807/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6720 |
dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6721 |
+
dataset/food/beverages/5716eb44dcd1539ba44a84a805cd6f3e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/beverages/5716eb44dcd1539ba44a84a805cd6f3e/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,687 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "carton body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the sidewalls to pick up and carry the milk carton",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the carton body to stabilize it while pouring",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "clamp the upper folded section to reorient the carton on a shelf",
|
| 18 |
+
"confidence": 0.76
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain liquid",
|
| 23 |
+
"provide main grasp surface",
|
| 24 |
+
"support pouring",
|
| 25 |
+
"protect contents",
|
| 26 |
+
"display product information"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large tapered paperboard carton body with blue-and-white printed panels, a mostly matte smooth surface, hard slightly compliant feel, folded gable top, and visible nutrition text and logo graphics on the sides.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
+
"confidence": 0.9531473517417908,
|
| 33 |
+
"position": [
|
| 34 |
+
0.0031018726294860244,
|
| 35 |
+
-0.11183328478364274,
|
| 36 |
+
-0.051170369144529104
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.7502281093433641,
|
| 40 |
+
"xyz": [
|
| 41 |
+
-0.6611660032460263,
|
| 42 |
+
-0.004122739900125683,
|
| 43 |
+
-0.0005505619616460274
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_1": {
|
| 48 |
+
"confidence": 0.9498366713523865,
|
| 49 |
+
"position": [
|
| 50 |
+
0.004772040410898626,
|
| 51 |
+
-0.11299323587445542,
|
| 52 |
+
-0.038215050008147955
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.7229679988552032,
|
| 56 |
+
"xyz": [
|
| 57 |
+
-0.6908758894270425,
|
| 58 |
+
-0.0012469933656695797,
|
| 59 |
+
0.002494603623985197
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_2": {
|
| 64 |
+
"confidence": 0.9496923685073853,
|
| 65 |
+
"position": [
|
| 66 |
+
-9.144633077085018e-05,
|
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dataset/food/beverages/5716eb44dcd1539ba44a84a805cd6f3e/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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size 3778536
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dataset/food/beverages/5716eb44dcd1539ba44a84a805cd6f3e/milk_carton_008.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>
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|
| 57 |
</affordance>
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| 58 |
<quality>
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<PartSegChecker>YES</PartSegChecker>
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| 54 |
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</geometry>
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| 56 |
</visual_seg>
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
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| 58 |
</affordance>
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| 59 |
<quality>
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| 60 |
<PartSegChecker>YES</PartSegChecker>
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