Add asset food/beverages/474f06d3aec0531f92cdd170b3339b0b
Browse files
.gitattributes
CHANGED
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@@ -6714,3 +6714,4 @@ dataset/food/beverages/289623b44a705b80bfd7758b298f4b68/affordance/mesh_part_seg
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| 6714 |
dataset/food/beverages/27971a3c8b1f537292a04fa90716c7b7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6715 |
dataset/food/beverages/2ce27d0384335ce0ac6cb1f00d1db660/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6716 |
dataset/food/beverages/3e6adfe99d7a58768cbe66ea047ed392/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6714 |
dataset/food/beverages/27971a3c8b1f537292a04fa90716c7b7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6715 |
dataset/food/beverages/2ce27d0384335ce0ac6cb1f00d1db660/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6716 |
dataset/food/beverages/3e6adfe99d7a58768cbe66ea047ed392/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6717 |
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dataset/food/beverages/474f06d3aec0531f92cdd170b3339b0b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/beverages/474f06d3aec0531f92cdd170b3339b0b/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,1141 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "carton body",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
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|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the carton body from the sides to pick up the carton",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize the carton while pouring",
|
| 14 |
+
"confidence": 0.89
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "clamp the lower body for transport or placement",
|
| 18 |
+
"confidence": 0.91
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain liquid",
|
| 23 |
+
"main structural shell",
|
| 24 |
+
"main grasp surface",
|
| 25 |
+
"support printed labeling",
|
| 26 |
+
"stabilize the package upright"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large tapered paperboard carton body with white upper faces and green lower panels, matte smooth surfaces, broad flat faces, and printed Chinese text, nutrition label, barcode, and pasture graphics.",
|
| 29 |
+
"id": 1,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_20": {
|
| 32 |
+
"confidence": 0.8806084990501404,
|
| 33 |
+
"position": [
|
| 34 |
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|
| 35 |
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0.002007260627578944,
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| 36 |
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| 37 |
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],
|
| 38 |
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| 39 |
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| 40 |
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| 41 |
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| 42 |
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| 43 |
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| 44 |
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| 45 |
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| 46 |
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},
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| 47 |
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|
| 48 |
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|
| 49 |
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| 50 |
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| 51 |
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| 52 |
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| 53 |
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| 54 |
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| 55 |
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| 56 |
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| 59 |
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| 60 |
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| 61 |
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| 62 |
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},
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| 63 |
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| 64 |
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| 65 |
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| 66 |
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| 70 |
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| 77 |
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},
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| 79 |
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|
| 80 |
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| 81 |
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| 85 |
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],
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| 86 |
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| 88 |
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| 92 |
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| 93 |
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}
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| 94 |
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},
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| 95 |
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|
| 96 |
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|
| 97 |
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| 101 |
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],
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| 102 |
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| 110 |
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},
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| 111 |
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| 112 |
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],
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| 118 |
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| 123 |
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| 124 |
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| 125 |
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| 126 |
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},
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| 127 |
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| 128 |
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"confidence": 0.8593911528587341,
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| 129 |
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0.005837581877131015,
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| 132 |
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| 133 |
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],
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| 134 |
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|
| 135 |
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| 136 |
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| 140 |
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]
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| 141 |
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}
|
| 142 |
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},
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| 143 |
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|
| 144 |
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"confidence": 0.8592928051948547,
|
| 145 |
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| 146 |
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|
| 147 |
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0.007065843150485307,
|
| 148 |
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|
| 149 |
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],
|
| 150 |
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"orientation": {
|
| 151 |
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"w": 0.7017308379426201,
|
| 152 |
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|
| 153 |
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0.026056404120451165,
|
| 154 |
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0.00975629254960253,
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| 155 |
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| 156 |
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]
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| 157 |
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}
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| 158 |
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},
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| 159 |
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"grasp_33": {
|
| 160 |
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| 161 |
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| 162 |
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],
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| 166 |
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]
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| 173 |
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}
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| 174 |
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},
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| 175 |
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"grasp_34": {
|
| 176 |
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| 177 |
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| 181 |
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],
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| 182 |
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"orientation": {
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| 183 |
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| 184 |
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| 187 |
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0.5248310993302294
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| 188 |
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]
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| 189 |
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}
|
| 190 |
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},
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| 191 |
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|
| 192 |
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"confidence": 0.8570079207420349,
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| 193 |
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"position": [
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0.0012590457336045802,
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],
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| 198 |
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"orientation": {
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| 203 |
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0.598663378796374
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| 204 |
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]
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| 205 |
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}
|
| 206 |
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},
|
| 207 |
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"grasp_37": {
|
| 208 |
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"confidence": 0.8562759160995483,
|
| 209 |
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"position": [
|
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0.026114986278116703,
|
| 211 |
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0.007162636902648956,
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| 212 |
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|
| 213 |
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],
|
| 214 |
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"orientation": {
|
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| 216 |
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0.025039954052173772,
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0.011370763274126006,
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]
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| 221 |
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}
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| 222 |
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},
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| 223 |
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"grasp_39": {
|
| 224 |
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"confidence": 0.8532169461250305,
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| 225 |
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"position": [
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| 227 |
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0.0009585406805854291,
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| 228 |
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| 229 |
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],
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| 230 |
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"orientation": {
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]
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}
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| 238 |
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}
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| 239 |
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}
|
| 240 |
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},
|
| 241 |
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{
|
| 242 |
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"part_name": "right sloped top panel",
|
| 243 |
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"mask_color": "Cyan",
|
| 244 |
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"graspable": true,
|
| 245 |
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"grasp_scenarios": [
|
| 246 |
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{
|
| 247 |
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"scenario": "lightly pinch the sloped top panel to orient the carton",
|
| 248 |
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"confidence": 0.42
|
| 249 |
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},
|
| 250 |
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{
|
| 251 |
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"scenario": "hold the upper sloped panel to steady the carton during opening",
|
| 252 |
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"confidence": 0.47
|
| 253 |
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}
|
| 254 |
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],
|
| 255 |
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"functional_labels": [
|
| 256 |
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"form the upper folded closure",
|
| 257 |
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"connect the body to the top ridge",
|
| 258 |
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"provide folding structure",
|
| 259 |
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"indicate top orientation"
|
| 260 |
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],
|
| 261 |
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"semantic_description": "White sloped paperboard top panel with a matte smooth finish and crisp folded edges, located between the main body and the top ridge on one side.",
|
| 262 |
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"id": 6,
|
| 263 |
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"grasp_group": {
|
| 264 |
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0.012075546197593212
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],
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-0.06313177105039358,
|
| 1074 |
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-0.004853787540923804,
|
| 1075 |
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0.11500686500221491
|
| 1076 |
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],
|
| 1077 |
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"orientation": {
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| 1078 |
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"w": 0.1522587772223032,
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| 1079 |
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"xyz": [
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| 1080 |
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| 1082 |
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| 1083 |
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]
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}
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| 1085 |
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},
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| 1086 |
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"grasp_14": {
|
| 1087 |
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"confidence": 0.6113808155059814,
|
| 1088 |
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"position": [
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| 1091 |
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0.12238769326359034
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| 1092 |
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],
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| 1093 |
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"orientation": {
|
| 1094 |
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"w": 0.07465522277425264,
|
| 1095 |
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"xyz": [
|
| 1096 |
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|
| 1097 |
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|
| 1098 |
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0.06967533883651778
|
| 1099 |
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]
|
| 1100 |
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}
|
| 1101 |
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},
|
| 1102 |
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"grasp_18": {
|
| 1103 |
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"confidence": 0.8527609705924988,
|
| 1104 |
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"position": [
|
| 1105 |
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|
| 1106 |
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|
| 1107 |
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0.11787569615989923
|
| 1108 |
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],
|
| 1109 |
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"orientation": {
|
| 1110 |
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"w": 0.11068122046155718,
|
| 1111 |
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"xyz": [
|
| 1112 |
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|
| 1113 |
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|
| 1114 |
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|
| 1115 |
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]
|
| 1116 |
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}
|
| 1117 |
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},
|
| 1118 |
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"grasp_19": {
|
| 1119 |
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"confidence": 0.8337025046348572,
|
| 1120 |
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"position": [
|
| 1121 |
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|
| 1122 |
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|
| 1123 |
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|
| 1124 |
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],
|
| 1125 |
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"orientation": {
|
| 1126 |
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"w": 0.01132662280293971,
|
| 1127 |
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"xyz": [
|
| 1128 |
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|
| 1129 |
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|
| 1130 |
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|
| 1131 |
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]
|
| 1132 |
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}
|
| 1133 |
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}
|
| 1134 |
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}
|
| 1135 |
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}
|
| 1136 |
+
],
|
| 1137 |
+
"quality_check": {
|
| 1138 |
+
"success": false,
|
| 1139 |
+
"message": "Several top-part identities and graspability labels mismatch the mask and carton geometry; seam/apex parts are over-segmented or misnamed."
|
| 1140 |
+
}
|
| 1141 |
+
}
|
dataset/food/beverages/474f06d3aec0531f92cdd170b3339b0b/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:055448e36265f9e771961409b94764c9c9f69add1b16e8da81e69195c97cbdc1
|
| 3 |
+
size 3789776
|
dataset/food/beverages/474f06d3aec0531f92cdd170b3339b0b/milk_carton_011.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>
|