Add asset food/snack/9e818f1a4b495fc5bf276fe561e53cfa
Browse files
.gitattributes
CHANGED
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@@ -6880,3 +6880,4 @@ dataset/food/snack/80f6b2cb35fc5f478d6d8a5961a1d403/affordance/mesh_part_seg.glb
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| 6880 |
dataset/food/snack/83d75a5a00db543ba91c638eaaff5cc9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6881 |
dataset/food/snack/849fb9200f9c595ba3c7165cf9cb36e9/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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| 6880 |
dataset/food/snack/83d75a5a00db543ba91c638eaaff5cc9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6881 |
dataset/food/snack/849fb9200f9c595ba3c7165cf9cb36e9/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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dataset/food/snack/9e818f1a4b495fc5bf276fe561e53cfa/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,588 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "box body",
|
| 5 |
+
"mask_color": "Orange",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the box body from the sides to pick up the snack package",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the box body to stabilize it while opening an end flap",
|
| 14 |
+
"confidence": 0.88
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the box body to place or reorient the package on a shelf",
|
| 18 |
+
"confidence": 0.91
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain potato chips",
|
| 23 |
+
"provide main grasp surface",
|
| 24 |
+
"protect contents",
|
| 25 |
+
"support stacking and placement",
|
| 26 |
+
"display product branding"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Long rectangular paperboard carton with off-white top panels and gray side panels, a matte smooth hard surface, printed Japanese text and chip images, forming the main package volume.",
|
| 29 |
+
"id": 4,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_20": {
|
| 32 |
+
"confidence": 0.9900320768356323,
|
| 33 |
+
"position": [
|
| 34 |
+
-0.009632966626668349,
|
| 35 |
+
-0.10671511954569723,
|
| 36 |
+
-0.0017465953715145588
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.4744607682013157,
|
| 40 |
+
"xyz": [
|
| 41 |
+
-0.5450855672041245,
|
| 42 |
+
0.44699417187841484,
|
| 43 |
+
0.5272237799742204
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_21": {
|
| 48 |
+
"confidence": 0.9882292747497559,
|
| 49 |
+
"position": [
|
| 50 |
+
-0.01757881711819209,
|
| 51 |
+
-0.10650475985312369,
|
| 52 |
+
-0.0024700863286852837
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.5096245414438713,
|
| 56 |
+
"xyz": [
|
| 57 |
+
-0.5039745012305924,
|
| 58 |
+
0.48698735222036205,
|
| 59 |
+
0.4991350995921847
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_22": {
|
| 64 |
+
"confidence": 0.988120436668396,
|
| 65 |
+
"position": [
|
| 66 |
+
-0.017000009451294318,
|
| 67 |
+
-0.10683809137844946,
|
| 68 |
+
0.002308309165528044
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.4995511235448421,
|
| 72 |
+
"xyz": [
|
| 73 |
+
-0.5091222644880475,
|
| 74 |
+
0.5019250527906763,
|
| 75 |
+
0.48919774748942313
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_23": {
|
| 80 |
+
"confidence": 0.9880805015563965,
|
| 81 |
+
"position": [
|
| 82 |
+
-0.01694293986656703,
|
| 83 |
+
-0.10986886090540793,
|
| 84 |
+
-0.0010512149892747402
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.5049458612617074,
|
| 88 |
+
"xyz": [
|
| 89 |
+
-0.5088100716207228,
|
| 90 |
+
0.4856881545921916,
|
| 91 |
+
0.5002489427283372
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_24": {
|
| 96 |
+
"confidence": 0.9878336191177368,
|
| 97 |
+
"position": [
|
| 98 |
+
-0.02996953498222865,
|
| 99 |
+
-0.10705593890452292,
|
| 100 |
+
-0.00018409756012260914
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.5057714012812624,
|
| 104 |
+
"xyz": [
|
| 105 |
+
-0.5072583752028932,
|
| 106 |
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0.49317783709877083,
|
| 107 |
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0.49361913600172297
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_25": {
|
| 112 |
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"position": [
|
| 523 |
+
-0.18221212844946422,
|
| 524 |
+
0.03297254153585527,
|
| 525 |
+
-0.007759915664792061
|
| 526 |
+
],
|
| 527 |
+
"orientation": {
|
| 528 |
+
"w": 0.7232728376703943,
|
| 529 |
+
"xyz": [
|
| 530 |
+
0.17651552368071474,
|
| 531 |
+
0.6521205905538243,
|
| 532 |
+
-0.14302939405475304
|
| 533 |
+
]
|
| 534 |
+
}
|
| 535 |
+
},
|
| 536 |
+
"grasp_19": {
|
| 537 |
+
"confidence": 0.954186201095581,
|
| 538 |
+
"position": [
|
| 539 |
+
-0.17787367026903667,
|
| 540 |
+
0.05312083371973131,
|
| 541 |
+
-0.006826270371675491
|
| 542 |
+
],
|
| 543 |
+
"orientation": {
|
| 544 |
+
"w": 0.7049501821485336,
|
| 545 |
+
"xyz": [
|
| 546 |
+
0.19204708046742866,
|
| 547 |
+
0.6614949063655894,
|
| 548 |
+
-0.1690788231123763
|
| 549 |
+
]
|
| 550 |
+
}
|
| 551 |
+
}
|
| 552 |
+
}
|
| 553 |
+
},
|
| 554 |
+
{
|
| 555 |
+
"part_name": "chip illustration",
|
| 556 |
+
"mask_color": "Red",
|
| 557 |
+
"graspable": false,
|
| 558 |
+
"grasp_scenarios": [],
|
| 559 |
+
"functional_labels": [
|
| 560 |
+
"show product contents",
|
| 561 |
+
"communicate flavor or type",
|
| 562 |
+
"aid visual identification",
|
| 563 |
+
"provide package decoration"
|
| 564 |
+
],
|
| 565 |
+
"semantic_description": "Printed yellow potato chip image on the front panel, appearing as a small ridged oval graphic with a matte ink finish rather than a physical protruding part.",
|
| 566 |
+
"id": 0,
|
| 567 |
+
"grasp_group": {}
|
| 568 |
+
},
|
| 569 |
+
{
|
| 570 |
+
"part_name": "inner end fold",
|
| 571 |
+
"mask_color": "Magenta",
|
| 572 |
+
"graspable": false,
|
| 573 |
+
"grasp_scenarios": [],
|
| 574 |
+
"functional_labels": [
|
| 575 |
+
"reinforce end closure",
|
| 576 |
+
"support folded flap structure",
|
| 577 |
+
"help retain box shape"
|
| 578 |
+
],
|
| 579 |
+
"semantic_description": "Tiny triangular inner paperboard fold visible inside one opened end, matching the carton material with a matte smooth creased surface and tucked near the corner.",
|
| 580 |
+
"id": 7,
|
| 581 |
+
"grasp_group": {}
|
| 582 |
+
}
|
| 583 |
+
],
|
| 584 |
+
"quality_check": {
|
| 585 |
+
"success": true,
|
| 586 |
+
"message": "YES"
|
| 587 |
+
}
|
| 588 |
+
}
|
dataset/food/snack/9e818f1a4b495fc5bf276fe561e53cfa/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e94037a76bdd0ba570030c2af13087f7733348d8be687567b91120c56c331c9e
|
| 3 |
+
size 3784680
|
dataset/food/snack/9e818f1a4b495fc5bf276fe561e53cfa/potato_chips_007.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>
|