Add asset food/beverages/f95b2b0c0af35fd794cdfe16dbee5503
Browse files
.gitattributes
CHANGED
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@@ -8251,3 +8251,4 @@ dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/affordanc
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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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| 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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| 8254 |
+
dataset/food/beverages/f95b2b0c0af35fd794cdfe16dbee5503/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/beverages/f95b2b0c0af35fd794cdfe16dbee5503/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,746 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "bottle body",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the bottle body to pick up and transport the bottle",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize the bottle while unscrewing the cap",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the body to tilt and pour the contents",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain liquid",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"support pouring",
|
| 25 |
+
"support labeling",
|
| 26 |
+
"provide structural body"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large rounded amber-brown bottle body made of translucent plastic with a glossy smooth hard surface, forming the main lower container and showing a light cream paper label on one side.",
|
| 29 |
+
"id": 1,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_5": {
|
| 32 |
+
"confidence": 0.5270324349403381,
|
| 33 |
+
"position": [
|
| 34 |
+
-0.04929773614730948,
|
| 35 |
+
0.094544283230789,
|
| 36 |
+
0.019359508529305458
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.17015794358622702,
|
| 40 |
+
"xyz": [
|
| 41 |
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dataset/food/beverages/f95b2b0c0af35fd794cdfe16dbee5503/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
|
|
|
|
|
|
|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:b3956ac1942ee6fcf0e87f8c0c087451be25fa0c3b43358a36ba3ca3af7c4b11
|
| 3 |
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size 3781880
|
dataset/food/beverages/f95b2b0c0af35fd794cdfe16dbee5503/beverage_bottle_020.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 |
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 58 |
</affordance>
|
| 59 |
<quality>
|
| 60 |
<PartSegChecker>YES</PartSegChecker>
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