Add asset food/snack/d30f92d30c70597a917062e5793b52b7
Browse files
.gitattributes
CHANGED
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@@ -6889,3 +6889,4 @@ dataset/food/snack/b7535479eb9e589bacc245ba4b8ad1c4/affordance/mesh_part_seg.glb
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| 6889 |
dataset/food/snack/bde493d11d265f449ff14449c382450b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6890 |
dataset/food/snack/c4d558c3e8b851ca900983d8c3691db0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6891 |
dataset/food/snack/c8ea14aadc6d595e9bf3dbd86fef7866/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6889 |
dataset/food/snack/bde493d11d265f449ff14449c382450b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6890 |
dataset/food/snack/c4d558c3e8b851ca900983d8c3691db0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6891 |
dataset/food/snack/c8ea14aadc6d595e9bf3dbd86fef7866/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6892 |
+
dataset/food/snack/d30f92d30c70597a917062e5793b52b7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/snack/d30f92d30c70597a917062e5793b52b7/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,462 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "candy body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the central candy body to pick up the wrapped candy",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the candy body to stabilize it while twisting an end open",
|
| 14 |
+
"confidence": 0.88
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "reposition the candy by pinching the rounded center",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain the sweet",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"provide bulk shape",
|
| 25 |
+
"support wrapping around the candy"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Rounded central candy mass wrapped in white printed plastic film with a glossy smooth crinkled surface, medium-sized and bulbous at the center, covered with colorful polka dots and visible candy branding.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_4": {
|
| 31 |
+
"confidence": 0.8705645799636841,
|
| 32 |
+
"position": [
|
| 33 |
+
0.008241309697041288,
|
| 34 |
+
-0.0974533932749182,
|
| 35 |
+
0.011754475068300962
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.5164846408853188,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.5909589525197859,
|
| 41 |
+
0.43242922816137497,
|
| 42 |
+
0.44386495108088675
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_5": {
|
| 47 |
+
"confidence": 0.8646523356437683,
|
| 48 |
+
"position": [
|
| 49 |
+
0.08446857510716654,
|
| 50 |
+
-0.04753720038570464,
|
| 51 |
+
0.016847874503582716
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.6429014092904566,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.2558176652444582,
|
| 57 |
+
-0.7135784065888797,
|
| 58 |
+
-0.10973129786571624
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_6": {
|
| 63 |
+
"confidence": 0.8636175990104675,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.01008852300583385,
|
| 66 |
+
-0.0979450496379286,
|
| 67 |
+
0.0018018679693341255
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.5589097863831303,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.4921428254243093,
|
| 73 |
+
0.4947059517130503,
|
| 74 |
+
0.4479746771952924
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_10": {
|
| 79 |
+
"confidence": 0.8550273180007935,
|
| 80 |
+
"position": [
|
| 81 |
+
0.08853912531048991,
|
| 82 |
+
-0.04109988012351096,
|
| 83 |
+
-0.009937858674675226
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.7144773511185581,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.057766601786507714,
|
| 89 |
+
-0.6523601218580676,
|
| 90 |
+
-0.24619383799351013
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_12": {
|
| 95 |
+
"confidence": 0.8529173135757446,
|
| 96 |
+
"position": [
|
| 97 |
+
0.07846405534655787,
|
| 98 |
+
-0.05990255274809897,
|
| 99 |
+
-0.007725851144641638
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.6875168067019785,
|
| 103 |
+
"xyz": [
|
| 104 |
+
-0.14910879775366362,
|
| 105 |
+
-0.644643407375931,
|
| 106 |
+
-0.2992024135289037
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_19": {
|
| 111 |
+
"confidence": 0.8440836668014526,
|
| 112 |
+
"position": [
|
| 113 |
+
0.07818008391768672,
|
| 114 |
+
-0.06102456175722182,
|
| 115 |
+
-0.0027032741345465183
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.25712924462263315,
|
| 119 |
+
"xyz": [
|
| 120 |
+
-0.6581338740296453,
|
| 121 |
+
0.19196427429770868,
|
| 122 |
+
0.6810976969626894
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
}
|
| 126 |
+
}
|
| 127 |
+
},
|
| 128 |
+
{
|
| 129 |
+
"part_name": "twisted wrapper end",
|
| 130 |
+
"mask_color": "Green",
|
| 131 |
+
"graspable": true,
|
| 132 |
+
"grasp_scenarios": [
|
| 133 |
+
{
|
| 134 |
+
"scenario": "grasp one wrapper end to pull or twist it open",
|
| 135 |
+
"confidence": 0.89
|
| 136 |
+
},
|
| 137 |
+
{
|
| 138 |
+
"scenario": "hold a wrapper end to orient the candy during unwrapping",
|
| 139 |
+
"confidence": 0.77
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"scenario": "delicately pinch the wrapper tail to lift the lightweight candy",
|
| 143 |
+
"confidence": 0.42
|
| 144 |
+
}
|
| 145 |
+
],
|
| 146 |
+
"functional_labels": [
|
| 147 |
+
"seal one side of the wrapper",
|
| 148 |
+
"enable opening by twisting",
|
| 149 |
+
"provide a pull tab",
|
| 150 |
+
"indicate candy end"
|
| 151 |
+
],
|
| 152 |
+
"semantic_description": "One small twisted tail of thin white printed plastic film with a glossy crinkled surface, papery-smooth texture, and irregular flared shape extending from one side of the candy.",
|
| 153 |
+
"id": 1,
|
| 154 |
+
"grasp_group": {
|
| 155 |
+
"grasp_21": {
|
| 156 |
+
"confidence": 0.4125756621360779,
|
| 157 |
+
"position": [
|
| 158 |
+
0.08891966371447779,
|
| 159 |
+
0.06886769807897508,
|
| 160 |
+
0.02182661695405841
|
| 161 |
+
],
|
| 162 |
+
"orientation": {
|
| 163 |
+
"w": 0.5993889446854075,
|
| 164 |
+
"xyz": [
|
| 165 |
+
0.6603660077801844,
|
| 166 |
+
-0.3699565884478153,
|
| 167 |
+
-0.2603492873457275
|
| 168 |
+
]
|
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"success": true,
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"message": "YES"
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}
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}
|
dataset/food/snack/d30f92d30c70597a917062e5793b52b7/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:aed92af7c29602c3307aabeafb3653908a2b31f1f3ca9d63323ad47f7f1b75fb
|
| 3 |
+
size 3779824
|
dataset/food/snack/d30f92d30c70597a917062e5793b52b7/candy_001.urdf
CHANGED
|
@@ -52,6 +52,7 @@
|
|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
|
|
|
|
| 55 |
</affordance>
|
| 56 |
<quality>
|
| 57 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
|
| 55 |
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 56 |
</affordance>
|
| 57 |
<quality>
|
| 58 |
<PartSegChecker>YES</PartSegChecker>
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