Add asset food/beverages/ef06f82b4ef4586692e68de6a83a0985
Browse files
.gitattributes
CHANGED
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@@ -8249,3 +8249,4 @@ dataset/desktop_supplies/office_tools/0f6727591e0c5a07b2f810375a966b12/affordanc
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| 8249 |
dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8250 |
dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8251 |
dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8249 |
dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8250 |
dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8251 |
dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8252 |
+
dataset/food/beverages/ef06f82b4ef4586692e68de6a83a0985/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/beverages/ef06f82b4ef4586692e68de6a83a0985/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,450 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "juice bottle body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the bottle body around the middle to pick up and carry the juice bottle",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the lower body to stabilize the bottle while unscrewing the cap",
|
| 14 |
+
"confidence": 0.91
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the body to tilt and pour the juice",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain the juice",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"support pouring",
|
| 25 |
+
"provide structural body",
|
| 26 |
+
"display product label"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large orange-filled clear plastic bottle body with a glossy smooth hard surface, rounded cylindrical shape, label wrap around the middle, and molded petaloid base at the bottom.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_1": {
|
| 32 |
+
"confidence": 0.9867314696311951,
|
| 33 |
+
"position": [
|
| 34 |
+
-0.0020609448838513345,
|
| 35 |
+
0.0010153035400435328,
|
| 36 |
+
-0.13235187903046608
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.8133938113831635,
|
| 40 |
+
"xyz": [
|
| 41 |
+
-0.0054752725602837575,
|
| 42 |
+
0.00571793590823344,
|
| 43 |
+
-0.5816595518023502
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_15": {
|
| 48 |
+
"confidence": 0.9844534993171692,
|
| 49 |
+
"position": [
|
| 50 |
+
-0.09181348452693783,
|
| 51 |
+
-0.04488463688176125,
|
| 52 |
+
-0.046328917145729065
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.6617197188872067,
|
| 56 |
+
"xyz": [
|
| 57 |
+
-0.5193830857606176,
|
| 58 |
+
0.3176450192073209,
|
| 59 |
+
-0.43757269754224315
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_16": {
|
| 64 |
+
"confidence": 0.9842972159385681,
|
| 65 |
+
"position": [
|
| 66 |
+
0.099077758990461,
|
| 67 |
+
0.024876777199096978,
|
| 68 |
+
-0.026243863627314568
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.5777451616869489,
|
| 72 |
+
"xyz": [
|
| 73 |
+
0.5417283852175555,
|
| 74 |
+
-0.4294024941573088,
|
| 75 |
+
-0.4339981368720185
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
}
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"part_name": "bottle neck ring",
|
| 83 |
+
"mask_color": "Blue",
|
| 84 |
+
"graspable": false,
|
| 85 |
+
"grasp_scenarios": [],
|
| 86 |
+
"functional_labels": [
|
| 87 |
+
"connect cap to bottle",
|
| 88 |
+
"provide tamper-band seat",
|
| 89 |
+
"guide opening alignment",
|
| 90 |
+
"seal transition to neck"
|
| 91 |
+
],
|
| 92 |
+
"semantic_description": "Small narrow blue-tinted clear plastic neck ring beneath the cap, with a glossy smooth hard finish and thin circular shape at the top of the bottle.",
|
| 93 |
+
"id": 2,
|
| 94 |
+
"grasp_group": {}
|
| 95 |
+
},
|
| 96 |
+
{
|
| 97 |
+
"part_name": "bottle cap",
|
| 98 |
+
"mask_color": "Green",
|
| 99 |
+
"graspable": true,
|
| 100 |
+
"grasp_scenarios": [
|
| 101 |
+
{
|
| 102 |
+
"scenario": "grasp the cap to twist it open",
|
| 103 |
+
"confidence": 0.94
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"scenario": "grasp the cap to reclose the bottle",
|
| 107 |
+
"confidence": 0.9
|
| 108 |
+
},
|
| 109 |
+
{
|
| 110 |
+
"scenario": "pinch the cap to manipulate or reposition the bottle lightly",
|
| 111 |
+
"confidence": 0.42
|
| 112 |
+
}
|
| 113 |
+
],
|
| 114 |
+
"functional_labels": [
|
| 115 |
+
"close the bottle opening",
|
| 116 |
+
"enable twisting open and shut",
|
| 117 |
+
"help seal the juice",
|
| 118 |
+
"provide top manipulation point"
|
| 119 |
+
],
|
| 120 |
+
"semantic_description": "Dark green plastic screw cap with a matte-to-satin finish, hard ridged sides for traction, and a short cylindrical shape on top of the bottle.",
|
| 121 |
+
"id": 1,
|
| 122 |
+
"grasp_group": {
|
| 123 |
+
"grasp_20": {
|
| 124 |
+
"confidence": 0.895285427570343,
|
| 125 |
+
"position": [
|
| 126 |
+
0.05441086893551983,
|
| 127 |
+
0.08524275210220367,
|
| 128 |
+
0.051838625222444534
|
| 129 |
+
],
|
| 130 |
+
"orientation": {
|
| 131 |
+
"w": 0.1621331353200724,
|
| 132 |
+
"xyz": [
|
| 133 |
+
-0.23762256530438614,
|
| 134 |
+
-0.6706311651188076,
|
| 135 |
+
0.6837413277408623
|
| 136 |
+
]
|
| 137 |
+
}
|
| 138 |
+
},
|
| 139 |
+
"grasp_21": {
|
| 140 |
+
"confidence": 0.8494855761528015,
|
| 141 |
+
"position": [
|
| 142 |
+
0.047950891457730904,
|
| 143 |
+
0.08863911416847259,
|
| 144 |
+
0.054796598851680756
|
| 145 |
+
],
|
| 146 |
+
"orientation": {
|
| 147 |
+
"w": 0.12070769285518335,
|
| 148 |
+
"xyz": [
|
| 149 |
+
-0.2295365796305585,
|
| 150 |
+
-0.6751536118159336,
|
| 151 |
+
0.6905868605389057
|
| 152 |
+
]
|
| 153 |
+
}
|
| 154 |
+
},
|
| 155 |
+
"grasp_22": {
|
| 156 |
+
"confidence": 0.863186240196228,
|
| 157 |
+
"position": [
|
| 158 |
+
0.07611526330583729,
|
| 159 |
+
0.048103466746397316,
|
| 160 |
+
0.10279546305537224
|
| 161 |
+
],
|
| 162 |
+
"orientation": {
|
| 163 |
+
"w": 0.21710776683146424,
|
| 164 |
+
"xyz": [
|
| 165 |
+
-0.45000553267778653,
|
| 166 |
+
-0.7471695700275182,
|
| 167 |
+
0.43828857133825583
|
| 168 |
+
]
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"grasp_23": {
|
| 172 |
+
"confidence": 0.8051491975784302,
|
| 173 |
+
"position": [
|
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dataset/food/beverages/ef06f82b4ef4586692e68de6a83a0985/affordance/mesh_part_seg.glb
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 3765832
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