Add asset food/snack/a174ea5667c25ed5abb7e0c5d046dd2f
Browse files
.gitattributes
CHANGED
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@@ -6882,3 +6882,4 @@ dataset/food/snack/849fb9200f9c595ba3c7165cf9cb36e9/affordance/mesh_part_seg.glb
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| 6882 |
dataset/food/snack/8dd5b13c60825d9f8e872cd61d46e80a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6883 |
dataset/food/snack/9e818f1a4b495fc5bf276fe561e53cfa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6884 |
dataset/food/snack/a0d8ca01396056c3a5af46497e3e56f7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6882 |
dataset/food/snack/8dd5b13c60825d9f8e872cd61d46e80a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6883 |
dataset/food/snack/9e818f1a4b495fc5bf276fe561e53cfa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6884 |
dataset/food/snack/a0d8ca01396056c3a5af46497e3e56f7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6885 |
+
dataset/food/snack/a174ea5667c25ed5abb7e0c5d046dd2f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/snack/a174ea5667c25ed5abb7e0c5d046dd2f/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,259 @@
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| 1 |
+
{
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| 2 |
+
"affordances": [
|
| 3 |
+
{
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| 4 |
+
"part_name": "wrapper body",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the middle of the package to pick up the wrapped snack",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
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"scenario": "hold the wrapper body to stabilize it while opening one end",
|
| 14 |
+
"confidence": 0.89
|
| 15 |
+
},
|
| 16 |
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{
|
| 17 |
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"scenario": "pinch the wrapper body to reposition or orient the package",
|
| 18 |
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"confidence": 0.92
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain the food item",
|
| 23 |
+
"provide main grasp surface",
|
| 24 |
+
"protect the contents",
|
| 25 |
+
"display product information",
|
| 26 |
+
"support opening from the ends"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "The main elongated plastic film wrapper has a glossy smooth surface with prominent blue and white printing on the front and mostly white on the back, forming a slim pillow-pack shape over most of the package.",
|
| 29 |
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"id": 1,
|
| 30 |
+
"grasp_group": {
|
| 31 |
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"grasp_0": {
|
| 32 |
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"confidence": 0.9812833666801453,
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| 33 |
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"position": [
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| 34 |
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| 35 |
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0.10044583221315406,
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| 36 |
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0.005974427593173459
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| 37 |
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],
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| 38 |
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"orientation": {
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| 39 |
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"w": 0.591668584799808,
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| 40 |
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"xyz": [
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| 41 |
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0.40155417009418554,
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| 42 |
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-0.5940564136763232,
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| 43 |
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0.3684827154847125
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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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"grasp_5": {
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| 48 |
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"confidence": 0.9791839122772217,
|
| 49 |
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"position": [
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| 50 |
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0.04832946532405913,
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| 51 |
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0.08034909059642814,
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| 52 |
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-0.008545416145352647
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| 53 |
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],
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| 54 |
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"orientation": {
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| 55 |
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"w": 0.2772352416937351,
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| 56 |
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"xyz": [
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| 57 |
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0.6421947171809843,
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| 58 |
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0.2285863242738695,
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| 59 |
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-0.6771077154654294
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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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"grasp_6": {
|
| 64 |
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"confidence": 0.9788942933082581,
|
| 65 |
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"position": [
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| 66 |
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0.026116673136129975,
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| 67 |
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0.09839891930459999,
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| 68 |
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-0.0013913339644204825
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| 69 |
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],
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| 70 |
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"orientation": {
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| 71 |
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"w": 0.37857251939151787,
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| 72 |
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"xyz": [
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| 74 |
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| 75 |
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-0.5947481335512405
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| 76 |
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]
|
| 77 |
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}
|
| 78 |
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},
|
| 79 |
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"grasp_7": {
|
| 80 |
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"confidence": 0.9786689281463623,
|
| 81 |
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"position": [
|
| 82 |
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0.02873300970532,
|
| 83 |
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0.09651012261747383,
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| 84 |
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-0.002086521330056712
|
| 85 |
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],
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| 86 |
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"orientation": {
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"w": 0.3790861793054905,
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| 88 |
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"xyz": [
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| 91 |
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|
| 92 |
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]
|
| 93 |
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}
|
| 94 |
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},
|
| 95 |
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"grasp_10": {
|
| 96 |
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"confidence": 0.978175699710846,
|
| 97 |
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"position": [
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| 98 |
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|
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0.0957295699918177,
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| 100 |
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|
| 101 |
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],
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"orientation": {
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"w": 0.3814523222146547,
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| 104 |
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"xyz": [
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| 105 |
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0.5975142201322805,
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| 106 |
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0.38637142762214427,
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| 107 |
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|
| 108 |
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]
|
| 109 |
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}
|
| 110 |
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},
|
| 111 |
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"grasp_16": {
|
| 112 |
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"confidence": 0.9776110649108887,
|
| 113 |
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"position": [
|
| 114 |
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0.02243352518416941,
|
| 115 |
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0.09525940855382942,
|
| 116 |
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0.0016878487367648631
|
| 117 |
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],
|
| 118 |
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"orientation": {
|
| 119 |
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"w": 0.5784309425801778,
|
| 120 |
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"xyz": [
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| 121 |
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0.4059390246822852,
|
| 122 |
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-0.596210861504301,
|
| 123 |
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0.3810036240380154
|
| 124 |
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]
|
| 125 |
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}
|
| 126 |
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},
|
| 127 |
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"grasp_18": {
|
| 128 |
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"confidence": 0.977493166923523,
|
| 129 |
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"position": [
|
| 130 |
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0.022209316724911332,
|
| 131 |
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0.09888584454893135,
|
| 132 |
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0.005875726026715711
|
| 133 |
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],
|
| 134 |
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"orientation": {
|
| 135 |
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"w": 0.5736051643788024,
|
| 136 |
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"xyz": [
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| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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]
|
| 141 |
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}
|
| 142 |
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}
|
| 143 |
+
}
|
| 144 |
+
},
|
| 145 |
+
{
|
| 146 |
+
"part_name": "printed cheese-stick graphic",
|
| 147 |
+
"mask_color": "Red",
|
| 148 |
+
"graspable": false,
|
| 149 |
+
"grasp_scenarios": [],
|
| 150 |
+
"functional_labels": [
|
| 151 |
+
"show product imagery",
|
| 152 |
+
"indicate the snack shape",
|
| 153 |
+
"support package branding"
|
| 154 |
+
],
|
| 155 |
+
"semantic_description": "A long pale off-white printed cheese-stick illustration appears on the front of the wrapper, smooth-edged and centered along the package length.",
|
| 156 |
+
"id": 0,
|
| 157 |
+
"grasp_group": {}
|
| 158 |
+
},
|
| 159 |
+
{
|
| 160 |
+
"part_name": "small printed logo graphic",
|
| 161 |
+
"mask_color": "Orange",
|
| 162 |
+
"graspable": false,
|
| 163 |
+
"grasp_scenarios": [],
|
| 164 |
+
"functional_labels": [
|
| 165 |
+
"brand marking",
|
| 166 |
+
"product identification",
|
| 167 |
+
"visual decoration"
|
| 168 |
+
],
|
| 169 |
+
"semantic_description": "A small printed blue circular logo/graphic area sits on the front of the wrapper near one end, flat and glossy as part of the plastic packaging surface.",
|
| 170 |
+
"id": 4,
|
| 171 |
+
"grasp_group": {}
|
| 172 |
+
},
|
| 173 |
+
{
|
| 174 |
+
"part_name": "sealed end of wrapper",
|
| 175 |
+
"mask_color": "Blue",
|
| 176 |
+
"graspable": true,
|
| 177 |
+
"grasp_scenarios": [
|
| 178 |
+
{
|
| 179 |
+
"scenario": "pinch one sealed end to lift or drag the package lightly",
|
| 180 |
+
"confidence": 0.63
|
| 181 |
+
},
|
| 182 |
+
{
|
| 183 |
+
"scenario": "hold one end while the other gripper tears the package open",
|
| 184 |
+
"confidence": 0.86
|
| 185 |
+
}
|
| 186 |
+
],
|
| 187 |
+
"functional_labels": [
|
| 188 |
+
"seal the package",
|
| 189 |
+
"provide tear-start area",
|
| 190 |
+
"retain contents",
|
| 191 |
+
"support opening manipulation"
|
| 192 |
+
],
|
| 193 |
+
"semantic_description": "One narrow crimped end seal of the plastic wrapper is blue and white in appearance, glossy and slightly ribbed from heat sealing, located at a package tip.",
|
| 194 |
+
"id": 2,
|
| 195 |
+
"grasp_group": {
|
| 196 |
+
"grasp_36": {
|
| 197 |
+
"confidence": 0.9054902195930481,
|
| 198 |
+
"position": [
|
| 199 |
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-0.06305906525813043,
|
| 200 |
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0.111770424147835,
|
| 201 |
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0.02342293251422234
|
| 202 |
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],
|
| 203 |
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"orientation": {
|
| 204 |
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"w": 0.38823072119300317,
|
| 205 |
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"xyz": [
|
| 206 |
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0.5919540867889249,
|
| 207 |
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-0.48343320339391804,
|
| 208 |
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0.5149365049325455
|
| 209 |
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]
|
| 210 |
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}
|
| 211 |
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},
|
| 212 |
+
"grasp_37": {
|
| 213 |
+
"confidence": 0.8907323479652405,
|
| 214 |
+
"position": [
|
| 215 |
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-0.058752126758918166,
|
| 216 |
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0.11207153191207908,
|
| 217 |
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0.02695754569140263
|
| 218 |
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],
|
| 219 |
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"orientation": {
|
| 220 |
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"w": 0.3989264334723598,
|
| 221 |
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"xyz": [
|
| 222 |
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0.5878044943809144,
|
| 223 |
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-0.5079278247003963,
|
| 224 |
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0.4871887744578518
|
| 225 |
+
]
|
| 226 |
+
}
|
| 227 |
+
}
|
| 228 |
+
}
|
| 229 |
+
},
|
| 230 |
+
{
|
| 231 |
+
"part_name": "sealed end of wrapper",
|
| 232 |
+
"mask_color": "Yellow",
|
| 233 |
+
"graspable": true,
|
| 234 |
+
"grasp_scenarios": [
|
| 235 |
+
{
|
| 236 |
+
"scenario": "pinch one sealed end to lift or drag the package lightly",
|
| 237 |
+
"confidence": 0.64
|
| 238 |
+
},
|
| 239 |
+
{
|
| 240 |
+
"scenario": "hold one end while the other gripper tears the package open",
|
| 241 |
+
"confidence": 0.87
|
| 242 |
+
}
|
| 243 |
+
],
|
| 244 |
+
"functional_labels": [
|
| 245 |
+
"seal the package",
|
| 246 |
+
"provide tear-start area",
|
| 247 |
+
"retain contents",
|
| 248 |
+
"support opening manipulation"
|
| 249 |
+
],
|
| 250 |
+
"semantic_description": "The opposite narrow crimped end seal of the plastic wrapper is blue and white in appearance, glossy and slightly ribbed, forming the other package tip.",
|
| 251 |
+
"id": 3,
|
| 252 |
+
"grasp_group": {}
|
| 253 |
+
}
|
| 254 |
+
],
|
| 255 |
+
"quality_check": {
|
| 256 |
+
"success": true,
|
| 257 |
+
"message": "YES"
|
| 258 |
+
}
|
| 259 |
+
}
|
dataset/food/snack/a174ea5667c25ed5abb7e0c5d046dd2f/affordance/mesh_part_seg.glb
ADDED
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@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:de727b022168cbcfdb4118f3e560ecea7db0d0b3b79dd9e1dedb2b9aa2f2d1f5
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| 3 |
+
size 3784600
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