Add asset food/beverages/1a29b165d8c654b6907ad84ca139fbd3
Browse files
.gitattributes
CHANGED
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@@ -6706,4 +6706,5 @@ dataset/food/beverages/0b87a800c0e8572394ca77d0d7a8221c/affordance/mesh_part_seg
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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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| 6709 |
-
dataset/food/beverages/
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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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| 6709 |
+
dataset/food/beverages/1478aebd773855f49179318b4d6bfed8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6710 |
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dataset/food/beverages/1a29b165d8c654b6907ad84ca139fbd3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/beverages/1a29b165d8c654b6907ad84ca139fbd3/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,1399 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "push-pull spout",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "pinch and pull the spout to open the bottle",
|
| 10 |
+
"confidence": 0.9
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "push the spout down to close the bottle",
|
| 14 |
+
"confidence": 0.83
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the spout tip to orient the cap during manipulation",
|
| 18 |
+
"confidence": 0.36
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"dispense liquid",
|
| 23 |
+
"open and close drinking outlet",
|
| 24 |
+
"provide a small manipulation point",
|
| 25 |
+
"control pouring flow"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Small black plastic push-pull spout with a smooth slightly matte finish, protruding from the top of the cap as a short angled tab-like piece.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.8591693043708801,
|
| 32 |
+
"position": [
|
| 33 |
+
0.09067451988812536,
|
| 34 |
+
-0.02081657893722877,
|
| 35 |
+
0.11526735592633486
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.38412350458707384,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.6887083796717182,
|
| 41 |
+
-0.5300296534093044,
|
| 42 |
+
0.3117666876055145
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_2": {
|
| 47 |
+
"confidence": 0.9338920712471008,
|
| 48 |
+
"position": [
|
| 49 |
+
0.061833337298594415,
|
| 50 |
+
-0.0005409705336205661,
|
| 51 |
+
0.1438958691433072
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.21621370867915082,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.6466940926253234,
|
| 57 |
+
-0.7017212279097319,
|
| 58 |
+
0.20645992599915325
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_3": {
|
| 63 |
+
"confidence": 0.8502230048179626,
|
| 64 |
+
"position": [
|
| 65 |
+
0.061873909435234964,
|
| 66 |
+
-0.010391911899205297,
|
| 67 |
+
0.1419335352256894
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.18876302455590296,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.8491043078939371,
|
| 73 |
+
-0.4331185428450479,
|
| 74 |
+
0.23621753262670472
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_4": {
|
| 79 |
+
"confidence": 0.8027193546295166,
|
| 80 |
+
"position": [
|
| 81 |
+
0.05681649630423635,
|
| 82 |
+
-0.026841023412998766,
|
| 83 |
+
0.14331746567040682
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.1180951900186621,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.6332023955997479,
|
| 89 |
+
-0.7071549320668021,
|
| 90 |
+
-0.2916164507616009
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_6": {
|
| 95 |
+
"confidence": 0.9352998733520508,
|
| 96 |
+
"position": [
|
| 97 |
+
0.048005752614699304,
|
| 98 |
+
-0.019875822064932436,
|
| 99 |
+
0.14711362589150667
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.21971413700696787,
|
| 103 |
+
"xyz": [
|
| 104 |
+
-0.7936866664624858,
|
| 105 |
+
-0.5490494774299214,
|
| 106 |
+
0.14258977807991982
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_9": {
|
| 111 |
+
"confidence": 0.877284824848175,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.0022372790845111012,
|
| 114 |
+
-0.036385252547916025,
|
| 115 |
+
0.15581563580781221
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.1814182242435582,
|
| 119 |
+
"xyz": [
|
| 120 |
+
-0.9634683415503047,
|
| 121 |
+
0.1968801029049042,
|
| 122 |
+
0.007376165858647147
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_11": {
|
| 127 |
+
"confidence": 0.8496093153953552,
|
| 128 |
+
"position": [
|
| 129 |
+
0.09149175172206014,
|
| 130 |
+
0.017897423880640417,
|
| 131 |
+
0.11138578224927187
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.3693716993286379,
|
| 135 |
+
"xyz": [
|
| 136 |
+
0.701214956864104,
|
| 137 |
+
-0.5024141843023481,
|
| 138 |
+
-0.3456039921889696
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_15": {
|
| 143 |
+
"confidence": 0.9521192908287048,
|
| 144 |
+
"position": [
|
| 145 |
+
0.03115916473325342,
|
| 146 |
+
-0.05156873486703262,
|
| 147 |
+
0.13975652027875185
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.30079849220944227,
|
| 151 |
+
"xyz": [
|
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| 1348 |
+
-0.6997703421353115
|
| 1349 |
+
]
|
| 1350 |
+
}
|
| 1351 |
+
},
|
| 1352 |
+
"grasp_79": {
|
| 1353 |
+
"confidence": 0.9739635586738586,
|
| 1354 |
+
"position": [
|
| 1355 |
+
0.10573253815528005,
|
| 1356 |
+
0.019515682535711676,
|
| 1357 |
+
-0.03089942689985037
|
| 1358 |
+
],
|
| 1359 |
+
"orientation": {
|
| 1360 |
+
"w": 0.5539161378311336,
|
| 1361 |
+
"xyz": [
|
| 1362 |
+
0.5374422185273825,
|
| 1363 |
+
-0.44369057012604063,
|
| 1364 |
+
-0.4554903423518826
|
| 1365 |
+
]
|
| 1366 |
+
}
|
| 1367 |
+
}
|
| 1368 |
+
}
|
| 1369 |
+
},
|
| 1370 |
+
{
|
| 1371 |
+
"part_name": "base of bottle",
|
| 1372 |
+
"mask_color": "Blue",
|
| 1373 |
+
"graspable": true,
|
| 1374 |
+
"grasp_scenarios": [
|
| 1375 |
+
{
|
| 1376 |
+
"scenario": "grasp the lower bottle to lift it from a shelf",
|
| 1377 |
+
"confidence": 0.76
|
| 1378 |
+
},
|
| 1379 |
+
{
|
| 1380 |
+
"scenario": "hold the base to stabilize the bottle upright during placement",
|
| 1381 |
+
"confidence": 0.72
|
| 1382 |
+
}
|
| 1383 |
+
],
|
| 1384 |
+
"functional_labels": [
|
| 1385 |
+
"support standing",
|
| 1386 |
+
"stabilize on flat surfaces",
|
| 1387 |
+
"protect lower container",
|
| 1388 |
+
"complete the enclosure"
|
| 1389 |
+
],
|
| 1390 |
+
"semantic_description": "Translucent pale yellow-green plastic base with a glossy smooth finish and petaloid bottom lobes, wider than the waist and located at the very bottom for standing support.",
|
| 1391 |
+
"id": 2,
|
| 1392 |
+
"grasp_group": {}
|
| 1393 |
+
}
|
| 1394 |
+
],
|
| 1395 |
+
"quality_check": {
|
| 1396 |
+
"success": false,
|
| 1397 |
+
"message": "Green part misidentified; it is a lid flange, not a grip pad, and description/function are incorrect."
|
| 1398 |
+
}
|
| 1399 |
+
}
|
dataset/food/beverages/1a29b165d8c654b6907ad84ca139fbd3/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:858be5562ac2dd5db1fc2ef4b5c85ec281d6103ce63bf310aaaf879d42010c86
|
| 3 |
+
size 3757304
|
dataset/food/beverages/1a29b165d8c654b6907ad84ca139fbd3/beverage_bottle_003.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>
|