Add asset food/snack/7d0b5519bd71548887394a7a2e239237
Browse files
.gitattributes
CHANGED
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@@ -6873,3 +6873,4 @@ dataset/food/snack/547d6540fcf65512a28dc9f4a1762c8a/affordance/mesh_part_seg.glb
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| 6873 |
dataset/food/snack/5c319d0796c254bbb829452c42a90718/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6874 |
dataset/food/snack/70a49a578c905f2a9b3d74a3da7f27d7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6875 |
dataset/food/snack/7afdc23907745576bc885588017b4b28/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6873 |
dataset/food/snack/5c319d0796c254bbb829452c42a90718/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6874 |
dataset/food/snack/70a49a578c905f2a9b3d74a3da7f27d7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6875 |
dataset/food/snack/7afdc23907745576bc885588017b4b28/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6876 |
+
dataset/food/snack/7d0b5519bd71548887394a7a2e239237/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/snack/7d0b5519bd71548887394a7a2e239237/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,387 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "wrapper body",
|
| 5 |
+
"mask_color": "Cyan",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the middle of the snack package to pick up and move it",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the package body to stabilize it while another gripper opens an end",
|
| 14 |
+
"confidence": 0.88
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
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"scenario": "grasp the flexible body to orient the package for inspection or placement",
|
| 18 |
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"confidence": 0.89
|
| 19 |
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}
|
| 20 |
+
],
|
| 21 |
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"functional_labels": [
|
| 22 |
+
"contain the snack sticks",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"protect the contents",
|
| 25 |
+
"display printed branding and product information",
|
| 26 |
+
"support handling and transport"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Elongated glossy plastic wrapper forming most of the package, predominantly blue overall with a yellow central printed area on the front, smooth flexible surface, printed text and cartoon figure, and a small transparent window on the front.",
|
| 29 |
+
"id": 6,
|
| 30 |
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"grasp_group": {
|
| 31 |
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"grasp_20": {
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| 32 |
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"confidence": 0.9865626692771912,
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| 33 |
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"position": [
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| 34 |
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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": 0.4197900995020201,
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| 40 |
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| 43 |
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| 44 |
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]
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| 45 |
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}
|
| 46 |
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},
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| 47 |
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"grasp_21": {
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| 48 |
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"confidence": 0.9861948490142822,
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| 49 |
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"position": [
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| 50 |
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| 51 |
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| 52 |
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| 53 |
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],
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"orientation": {
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| 55 |
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"w": 0.4299903124587939,
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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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}
|
| 62 |
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},
|
| 63 |
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"grasp_22": {
|
| 64 |
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"confidence": 0.9836739301681519,
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| 65 |
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"position": [
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"orientation": {
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},
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"grasp_23": {
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],
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"orientation": {
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|
| 93 |
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}
|
| 94 |
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},
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| 95 |
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"grasp_24": {
|
| 96 |
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"confidence": 0.982964038848877,
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| 97 |
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"position": [
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| 99 |
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| 101 |
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"orientation": {
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"grasp_25": {
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| 112 |
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| 128 |
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]
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}
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},
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| 144 |
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},
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"grasp_30": {
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"part_name": "side seal seam",
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{
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"scenario": "pinch the narrow side seam to slightly reposition the package",
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|
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},
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{
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},
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{
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"scenario": "use the seam as a secondary pinch point when starting to manipulate the package",
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],
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],
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"semantic_description": "Thin darker blue sealed seam running along one side/edge of the wrapper, visible as a narrow linear band distinct from the main blue body.",
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| 361 |
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| 362 |
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},
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{
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"part_name": "tear/opening strip",
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| 367 |
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| 368 |
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| 369 |
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{
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| 370 |
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"scenario": "use the strip as a visual guide for where to start opening the package",
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| 371 |
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| 372 |
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}
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| 373 |
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],
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| 374 |
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"functional_labels": [
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"mark the tear-open area",
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| 376 |
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"indicate the boundary near an opening edge"
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| 377 |
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],
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| 378 |
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"semantic_description": "Thin yellow strip near one end of the wrapper adjacent to the sealed edge, appearing as a narrow printed or structural band rather than a large separate tab.",
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| 379 |
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"id": 9,
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| 380 |
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}
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],
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| 383 |
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"quality_check": {
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| 384 |
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"success": false,
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| 385 |
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"message": "Mask colors and part identities mismatch; yellow band is not a tear strip, and seam description/function are inaccurate."
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| 386 |
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}
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| 387 |
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}
|
dataset/food/snack/7d0b5519bd71548887394a7a2e239237/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
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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:c3b83f5751c1d3f00c147548bf4540fb94b1ff05d4d754588c0bebc2d38a8581
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| 3 |
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size 3782288
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dataset/food/snack/7d0b5519bd71548887394a7a2e239237/cheese_sticks_004.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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