Add asset food/beverages/67eec667d75356d68d862e9077810f6b
Browse files
.gitattributes
CHANGED
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@@ -6720,3 +6720,4 @@ dataset/food/beverages/5293281b4df350b2beb054fe1e552807/affordance/mesh_part_seg
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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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| 6722 |
dataset/food/beverages/647cf35e29ec5565a4eccfa4b2e1e528/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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| 6722 |
dataset/food/beverages/647cf35e29ec5565a4eccfa4b2e1e528/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6723 |
+
dataset/food/beverages/67eec667d75356d68d862e9077810f6b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/beverages/67eec667d75356d68d862e9077810f6b/affordance/affordance_annot.json
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "can body",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the cylindrical sidewall to pick up the can",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize the can while opening the tab",
|
| 14 |
+
"confidence": 0.94
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the body to reposition or place the can upright",
|
| 18 |
+
"confidence": 0.95
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain the beverage",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"provide structural support",
|
| 25 |
+
"display product label"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Tall red aluminum cylinder with a glossy printed finish, hard smooth surface, white Coca-Cola label graphics, and light scuffing around the sidewall.",
|
| 28 |
+
"id": 1,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_9": {
|
| 31 |
+
"confidence": 0.9820947051048279,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.02810986340045929,
|
| 34 |
+
-0.09487031813478097,
|
| 35 |
+
0.0058408500626683235
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.6635470583758427,
|
| 39 |
+
"xyz": [
|
| 40 |
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-0.7321861731740611,
|
| 41 |
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0.11598802254538354,
|
| 42 |
+
-0.10077444001085566
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_10": {
|
| 47 |
+
"confidence": 0.9818068742752075,
|
| 48 |
+
"position": [
|
| 49 |
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|
| 50 |
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-0.01990900974487886,
|
| 51 |
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-0.005365600023651496
|
| 52 |
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],
|
| 53 |
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"orientation": {
|
| 54 |
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"w": 0.5190725603718558,
|
| 55 |
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"xyz": [
|
| 56 |
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|
| 57 |
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|
| 58 |
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-0.45800891376087655
|
| 59 |
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]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
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"grasp_11": {
|
| 63 |
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"confidence": 0.9813116192817688,
|
| 64 |
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"position": [
|
| 65 |
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-0.09527521394193172,
|
| 66 |
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-0.028546601941343397,
|
| 67 |
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-0.0007338067516684532
|
| 68 |
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],
|
| 69 |
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"orientation": {
|
| 70 |
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"w": 0.5472815529948574,
|
| 71 |
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"xyz": [
|
| 72 |
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-0.577337590309353,
|
| 73 |
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0.429871003908185,
|
| 74 |
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-0.42705401129868287
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_12": {
|
| 79 |
+
"confidence": 0.9812652468681335,
|
| 80 |
+
"position": [
|
| 81 |
+
0.09637709148228168,
|
| 82 |
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0.026994078943971545,
|
| 83 |
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-0.011201434303075075
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
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"w": 0.5830159529856012,
|
| 87 |
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"xyz": [
|
| 88 |
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0.5554387044691385,
|
| 89 |
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-0.41787109518715115,
|
| 90 |
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-0.4206708831723761
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_13": {
|
| 95 |
+
"confidence": 0.9811711311340332,
|
| 96 |
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"position": [
|
| 97 |
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-0.09814574383199215,
|
| 98 |
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-0.0017395651084370911,
|
| 99 |
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-0.0053384142520371825
|
| 100 |
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],
|
| 101 |
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"orientation": {
|
| 102 |
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"w": 0.4867960715789051,
|
| 103 |
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"xyz": [
|
| 104 |
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-0.5202560812363787,
|
| 105 |
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0.4970754264397409,
|
| 106 |
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|
| 107 |
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]
|
| 108 |
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}
|
| 109 |
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},
|
| 110 |
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"grasp_14": {
|
| 111 |
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"confidence": 0.9810876250267029,
|
| 112 |
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"position": [
|
| 113 |
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-0.03244275413453579,
|
| 114 |
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-0.093410741945263,
|
| 115 |
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0.00944946426898241
|
| 116 |
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],
|
| 117 |
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"orientation": {
|
| 118 |
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"w": 0.6672455733448633,
|
| 119 |
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"xyz": [
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| 120 |
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-0.7226030465882693,
|
| 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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"grasp_15": {
|
| 127 |
+
"confidence": 0.9808657169342041,
|
| 128 |
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"position": [
|
| 129 |
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-0.0605486836284399,
|
| 130 |
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-0.08090543415164575,
|
| 131 |
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|
| 132 |
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],
|
| 133 |
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"orientation": {
|
| 134 |
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"w": 0.22156508741082595,
|
| 135 |
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"xyz": [
|
| 136 |
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0.24578060598191806,
|
| 137 |
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0.6761284609225962,
|
| 138 |
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0.6582940908850963
|
| 139 |
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]
|
| 140 |
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}
|
| 141 |
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},
|
| 142 |
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"grasp_16": {
|
| 143 |
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"confidence": 0.9806848764419556,
|
| 144 |
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"position": [
|
| 145 |
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-0.07065909169614315,
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|
| 457 |
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],
|
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|
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{
|
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|
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|
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|
| 499 |
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|
| 500 |
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|
| 501 |
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"support standing",
|
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|
| 503 |
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|
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],
|
| 505 |
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"semantic_description": "Circular silver aluminum base with a slightly recessed smooth hard surface and matte-to-satin metallic look at the bottom of the can.",
|
| 506 |
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|
| 507 |
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|
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|
| 509 |
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],
|
| 510 |
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"quality_check": {
|
| 511 |
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"success": true,
|
| 512 |
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"message": "YES"
|
| 513 |
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}
|
| 514 |
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}
|
dataset/food/beverages/67eec667d75356d68d862e9077810f6b/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a45b6dfda7e90af99df09c7909dccdef5ef8683928d5fe767338641130b0d45a
|
| 3 |
+
size 3781536
|