Add asset food/beverages/f93d301c086d53c6b736b09333eabce3
Browse files
.gitattributes
CHANGED
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@@ -8250,3 +8250,4 @@ dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/affordanc
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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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| 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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| 8253 |
+
dataset/food/beverages/f93d301c086d53c6b736b09333eabce3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/beverages/f93d301c086d53c6b736b09333eabce3/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,373 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "can body",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
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"graspable": true,
|
| 7 |
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"grasp_scenarios": [
|
| 8 |
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{
|
| 9 |
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"scenario": "grasp the cylindrical sidewall to pick up the can",
|
| 10 |
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"confidence": 0.97
|
| 11 |
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},
|
| 12 |
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{
|
| 13 |
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"scenario": "hold the body to stabilize the can during placement",
|
| 14 |
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"confidence": 0.94
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
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"scenario": "grasp the body to reorient the can upright",
|
| 18 |
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"confidence": 0.91
|
| 19 |
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}
|
| 20 |
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],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"contain beverage",
|
| 24 |
+
"support printed branding",
|
| 25 |
+
"provide structural shell"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large red aluminum cylindrical body with a smooth slightly glossy finish, hard slick texture, and white printed Coca-Cola branding wrapping the sides.",
|
| 28 |
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"id": 3,
|
| 29 |
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"grasp_group": {
|
| 30 |
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"grasp_0": {
|
| 31 |
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"confidence": 0.9491108655929565,
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| 32 |
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"position": [
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| 36 |
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],
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| 44 |
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}
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| 45 |
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},
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| 46 |
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| 47 |
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| 50 |
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| 51 |
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| 52 |
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| 60 |
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}
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| 61 |
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},
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| 62 |
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"grasp_2": {
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| 63 |
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"confidence": 0.9443510174751282,
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| 77 |
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"grasp_3": {
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}
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},
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| 94 |
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"grasp_5": {
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| 95 |
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"confidence": 0.9409144520759583,
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-0.004521896014921367,
|
| 211 |
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|
| 212 |
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],
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| 213 |
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"orientation": {
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| 214 |
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"w": 0.5012780058334315,
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| 215 |
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| 216 |
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| 218 |
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| 221 |
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},
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| 222 |
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|
| 223 |
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"confidence": 0.9318854212760925,
|
| 224 |
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| 225 |
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| 226 |
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| 227 |
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],
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| 229 |
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| 230 |
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| 231 |
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| 232 |
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| 237 |
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},
|
| 238 |
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"grasp_17": {
|
| 239 |
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"confidence": 0.9312252402305603,
|
| 240 |
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"position": [
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| 241 |
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| 242 |
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| 243 |
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|
| 244 |
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],
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| 245 |
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"orientation": {
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| 246 |
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|
| 247 |
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| 248 |
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|
| 250 |
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| 251 |
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|
| 252 |
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}
|
| 253 |
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},
|
| 254 |
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"grasp_18": {
|
| 255 |
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|
| 256 |
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| 257 |
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| 258 |
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|
| 259 |
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|
| 260 |
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],
|
| 261 |
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"orientation": {
|
| 262 |
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|
| 263 |
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"xyz": [
|
| 264 |
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|
| 265 |
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|
| 266 |
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|
| 267 |
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]
|
| 268 |
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}
|
| 269 |
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},
|
| 270 |
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"grasp_19": {
|
| 271 |
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"confidence": 0.929502546787262,
|
| 272 |
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"position": [
|
| 273 |
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|
| 274 |
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|
| 275 |
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|
| 276 |
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],
|
| 277 |
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"orientation": {
|
| 278 |
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"w": 0.5448693091989982,
|
| 279 |
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"xyz": [
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| 280 |
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|
| 281 |
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|
| 282 |
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|
| 283 |
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]
|
| 284 |
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}
|
| 285 |
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}
|
| 286 |
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}
|
| 287 |
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},
|
| 288 |
+
{
|
| 289 |
+
"part_name": "top lid",
|
| 290 |
+
"mask_color": "Red",
|
| 291 |
+
"graspable": false,
|
| 292 |
+
"grasp_scenarios": [],
|
| 293 |
+
"functional_labels": [
|
| 294 |
+
"seal the beverage opening",
|
| 295 |
+
"support the pull tab",
|
| 296 |
+
"provide top surface",
|
| 297 |
+
"contain internal pressure"
|
| 298 |
+
],
|
| 299 |
+
"semantic_description": "Flat circular silver metal top lid with a matte-to-satin finish, hard smooth texture, and a shallow recessed panel at the can's top.",
|
| 300 |
+
"id": 0,
|
| 301 |
+
"grasp_group": {}
|
| 302 |
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},
|
| 303 |
+
{
|
| 304 |
+
"part_name": "pull tab",
|
| 305 |
+
"mask_color": "Green",
|
| 306 |
+
"graspable": true,
|
| 307 |
+
"grasp_scenarios": [
|
| 308 |
+
{
|
| 309 |
+
"scenario": "pinch the pull tab to open the can",
|
| 310 |
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"confidence": 0.83
|
| 311 |
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},
|
| 312 |
+
{
|
| 313 |
+
"scenario": "grasp the tab lightly to orient the opening side",
|
| 314 |
+
"confidence": 0.34
|
| 315 |
+
}
|
| 316 |
+
],
|
| 317 |
+
"functional_labels": [
|
| 318 |
+
"open the drink can",
|
| 319 |
+
"lift the scored seal",
|
| 320 |
+
"indicate opening mechanism"
|
| 321 |
+
],
|
| 322 |
+
"semantic_description": "Small silver metal ring-pull tab on the top center, with a smooth hard surface and thin flat shape hinged over the opening area.",
|
| 323 |
+
"id": 1,
|
| 324 |
+
"grasp_group": {}
|
| 325 |
+
},
|
| 326 |
+
{
|
| 327 |
+
"part_name": "rivet of pull tab",
|
| 328 |
+
"mask_color": "Orange",
|
| 329 |
+
"graspable": false,
|
| 330 |
+
"grasp_scenarios": [],
|
| 331 |
+
"functional_labels": [
|
| 332 |
+
"attach the pull tab",
|
| 333 |
+
"act as pivot point",
|
| 334 |
+
"secure opening mechanism"
|
| 335 |
+
],
|
| 336 |
+
"semantic_description": "Tiny circular silver metal rivet at the tab pivot, hard and smooth with a slightly raised rounded form centered on the can top.",
|
| 337 |
+
"id": 4,
|
| 338 |
+
"grasp_group": {}
|
| 339 |
+
},
|
| 340 |
+
{
|
| 341 |
+
"part_name": "top rim",
|
| 342 |
+
"mask_color": "Purple",
|
| 343 |
+
"graspable": false,
|
| 344 |
+
"grasp_scenarios": [],
|
| 345 |
+
"functional_labels": [
|
| 346 |
+
"reinforce the lid edge",
|
| 347 |
+
"join lid to body",
|
| 348 |
+
"provide top boundary"
|
| 349 |
+
],
|
| 350 |
+
"semantic_description": "Narrow silver metal rim encircling the lid, slightly raised with a smooth hard finish, forming the crimped seam between the top and body.",
|
| 351 |
+
"id": 5,
|
| 352 |
+
"grasp_group": {}
|
| 353 |
+
},
|
| 354 |
+
{
|
| 355 |
+
"part_name": "bottom base",
|
| 356 |
+
"mask_color": "Blue",
|
| 357 |
+
"graspable": false,
|
| 358 |
+
"grasp_scenarios": [],
|
| 359 |
+
"functional_labels": [
|
| 360 |
+
"support standing",
|
| 361 |
+
"stabilize the can",
|
| 362 |
+
"protect the lower structure"
|
| 363 |
+
],
|
| 364 |
+
"semantic_description": "Circular silver aluminum bottom base with a smooth hard surface and shallow concave profile, located at the underside of the can.",
|
| 365 |
+
"id": 2,
|
| 366 |
+
"grasp_group": {}
|
| 367 |
+
}
|
| 368 |
+
],
|
| 369 |
+
"quality_check": {
|
| 370 |
+
"success": true,
|
| 371 |
+
"message": "YES"
|
| 372 |
+
}
|
| 373 |
+
}
|
dataset/food/beverages/f93d301c086d53c6b736b09333eabce3/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:71634e5475ca27ba3b5ac42b1b469c8c5170a3286edc39743f3e5fb231dfd1e1
|
| 3 |
+
size 3780868
|