Add asset food/beverages/b81c442fd6ca53c2a34efb13f4293d9c
Browse files
.gitattributes
CHANGED
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@@ -6737,3 +6737,4 @@ dataset/food/beverages/aa5b8e75dfc65ba0b57efd6e83dd467a/affordance/mesh_part_seg
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| 6737 |
dataset/food/beverages/b6855ffdcc5b5a4e99a945ca51a94cf1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6738 |
dataset/food/beverages/ab3ab037a77a56b1a2c687c55d72d6d7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6739 |
dataset/food/beverages/c373b5c030445c3e9e27a1195a9e9ac0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6737 |
dataset/food/beverages/b6855ffdcc5b5a4e99a945ca51a94cf1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6738 |
dataset/food/beverages/ab3ab037a77a56b1a2c687c55d72d6d7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6739 |
dataset/food/beverages/c373b5c030445c3e9e27a1195a9e9ac0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6740 |
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dataset/food/beverages/b81c442fd6ca53c2a34efb13f4293d9c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/beverages/b81c442fd6ca53c2a34efb13f4293d9c/affordance/affordance_annot.json
ADDED
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "carton body",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
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{
|
| 9 |
+
"scenario": "grasp the side walls to pick up and transport the carton",
|
| 10 |
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"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
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{
|
| 13 |
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"scenario": "hold the body to stabilize the carton while pouring",
|
| 14 |
+
"confidence": 0.94
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
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"scenario": "clamp the body from opposite sides for placement or manipulation",
|
| 18 |
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"confidence": 0.9
|
| 19 |
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}
|
| 20 |
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],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain liquid",
|
| 23 |
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"provide main grasp surface",
|
| 24 |
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"support pouring",
|
| 25 |
+
"protect contents",
|
| 26 |
+
"display product information"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large off-white paperboard carton body with a matte smooth slightly fibrous surface, tapered box shape, green printed Chinese text and leaf graphics, and a brown nutrition-panel print on one side face.",
|
| 29 |
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"id": 2,
|
| 30 |
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"grasp_group": {
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| 31 |
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"grasp_0": {
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| 32 |
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"confidence": 0.9708221554756165,
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| 33 |
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"position": [
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| 34 |
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| 35 |
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| 36 |
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| 37 |
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],
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| 38 |
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"orientation": {
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"w": 0.4904360112089439,
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| 40 |
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"xyz": [
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| 43 |
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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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},
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| 47 |
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"grasp_1": {
|
| 48 |
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"confidence": 0.9701606035232544,
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| 49 |
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"position": [
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| 50 |
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| 52 |
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| 53 |
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],
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| 54 |
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"orientation": {
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"w": 0.4870121727765263,
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"xyz": [
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| 59 |
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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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},
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| 63 |
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"grasp_2": {
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| 64 |
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"confidence": 0.9698029160499573,
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| 65 |
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"position": [
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| 69 |
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| 72 |
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]
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}
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},
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"grasp_3": {
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| 80 |
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"confidence": 0.9694491028785706,
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"position": [
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| 83 |
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],
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"orientation": {
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"xyz": [
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| 92 |
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]
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| 93 |
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}
|
| 94 |
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},
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| 95 |
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"grasp_4": {
|
| 96 |
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"confidence": 0.969360888004303,
|
| 97 |
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"position": [
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| 98 |
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| 99 |
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| 101 |
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],
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"orientation": {
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"w": 0.5096190012803293,
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"xyz": [
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"grasp_5": {
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"confidence": 0.9691094160079956,
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"position": [
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],
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"orientation": {
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| 124 |
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| 126 |
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},
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| 127 |
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"grasp_6": {
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| 128 |
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"confidence": 0.9688467979431152,
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| 129 |
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"position": [
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| 130 |
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| 133 |
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],
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"orientation": {
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"w": 0.4355400217524028,
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| 140 |
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}
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| 142 |
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},
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| 143 |
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"grasp_7": {
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| 144 |
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"confidence": 0.9687039256095886,
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"grasp_8": {
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"confidence": 0.9678540825843811,
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"orientation": {
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"grasp_9": {
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| 176 |
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"confidence": 0.9678092002868652,
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"position": [
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"grasp_10": {
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"confidence": 0.9677414298057556,
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"position": [
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"part_name": "gable top closure",
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| 371 |
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"assist opening",
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| 372 |
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| 373 |
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],
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| 374 |
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"semantic_description": "Narrow folded paperboard top closure in the same off-white material, matte and smooth, forming a peaked ridge and sloped flaps at the carton top with a small protruding tip.",
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| 375 |
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| 376 |
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{
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"part_name": "top printed logo",
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| 383 |
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"brand identification",
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"display certification mark",
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"provide visual labeling"
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| 387 |
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],
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| 388 |
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"semantic_description": "Small dark green printed logo and text on the upper sloped top panel near the gable seam, flat and integrated into the off-white carton surface.",
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| 389 |
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| 390 |
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],
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"quality_check": {
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| 394 |
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"success": true,
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| 395 |
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"message": "YES"
|
| 396 |
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}
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| 397 |
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}
|
dataset/food/beverages/b81c442fd6ca53c2a34efb13f4293d9c/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:55adbb33661742c5cbaaa6db4c1aafba445c9d589e2a6dc17667f7b63a47d1a5
|
| 3 |
+
size 3784964
|
dataset/food/beverages/b81c442fd6ca53c2a34efb13f4293d9c/milk_carton_016.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>NO: {"summary":"Printed logos are mislabeled as parts; only body and top fold are meaningful.","merge_groups":[]}</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>NO: {"summary":"Printed logos are mislabeled as parts; only body and top fold are meaningful.","merge_groups":[]}</PartSegChecker>
|