Add asset food/beverages/0b87a800c0e8572394ca77d0d7a8221c
Browse files
.gitattributes
CHANGED
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@@ -6702,3 +6702,4 @@ dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/affordanc
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| 6702 |
dataset/food/beverages/0291489507675507a7effd08fde3535b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6703 |
dataset/food/beverages/08b363f8cb3b5558a340fe4413a97fd8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6704 |
dataset/food/beverages/0975c7e3e7ee5462a84a0e3129bcca16/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6702 |
dataset/food/beverages/0291489507675507a7effd08fde3535b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6703 |
dataset/food/beverages/08b363f8cb3b5558a340fe4413a97fd8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6704 |
dataset/food/beverages/0975c7e3e7ee5462a84a0e3129bcca16/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6705 |
+
dataset/food/beverages/0b87a800c0e8572394ca77d0d7a8221c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/beverages/0b87a800c0e8572394ca77d0d7a8221c/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,624 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "front and back carton body panels",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp a broad front or back panel to pick up the carton",
|
| 10 |
+
"confidence": 0.92
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold one broad panel to stabilize the carton while pouring",
|
| 14 |
+
"confidence": 0.86
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pinch opposing broad walls for a secure friction grip",
|
| 18 |
+
"confidence": 0.81
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain liquid",
|
| 23 |
+
"provide main grasp surface",
|
| 24 |
+
"support printed branding",
|
| 25 |
+
"form the main package walls",
|
| 26 |
+
"stabilize the carton structure"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large matte paperboard front and back body panels. One broad face is mostly white with a blue logo and tan hand graphics, while the opposite broad face has a pinkish brick pattern; together they form most of the tapered carton body.",
|
| 29 |
+
"id": 3,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_57": {
|
| 32 |
+
"confidence": 0.7346314191818237,
|
| 33 |
+
"position": [
|
| 34 |
+
-0.14071107399649918,
|
| 35 |
+
-0.02748938323929906,
|
| 36 |
+
0.04582960071275011
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.5452289750870115,
|
| 40 |
+
"xyz": [
|
| 41 |
+
-0.5123390032607478,
|
| 42 |
+
0.42690474038644677,
|
| 43 |
+
-0.5079236685752402
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
}
|
| 47 |
+
}
|
| 48 |
+
},
|
| 49 |
+
{
|
| 50 |
+
"part_name": "side panel of milk carton",
|
| 51 |
+
"mask_color": "Blue",
|
| 52 |
+
"graspable": true,
|
| 53 |
+
"grasp_scenarios": [
|
| 54 |
+
{
|
| 55 |
+
"scenario": "grasp the narrower side panel to lift the carton",
|
| 56 |
+
"confidence": 0.83
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"scenario": "pinch the side panel against the opposite wall for secure holding",
|
| 60 |
+
"confidence": 0.78
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"scenario": "hold the side panel to reorient the carton on a shelf",
|
| 64 |
+
"confidence": 0.74
|
| 65 |
+
}
|
| 66 |
+
],
|
| 67 |
+
"functional_labels": [
|
| 68 |
+
"contain liquid",
|
| 69 |
+
"provide secondary grasp surface",
|
| 70 |
+
"form side wall",
|
| 71 |
+
"support carton rigidity"
|
| 72 |
+
],
|
| 73 |
+
"semantic_description": "Narrow vertical side wall panel made of matte coated paperboard, printed with a pinkish brick pattern, extending along the carton side between the front and back panels.",
|
| 74 |
+
"id": 2,
|
| 75 |
+
"grasp_group": {
|
| 76 |
+
"grasp_27": {
|
| 77 |
+
"confidence": 0.43473026156425476,
|
| 78 |
+
"position": [
|
| 79 |
+
0.015716745285317302,
|
| 80 |
+
-0.1336420443840325,
|
| 81 |
+
0.010250351449940354
|
| 82 |
+
],
|
| 83 |
+
"orientation": {
|
| 84 |
+
"w": 0.6157070766363063,
|
| 85 |
+
"xyz": [
|
| 86 |
+
-0.7877606663522031,
|
| 87 |
+
0.005771903480159102,
|
| 88 |
+
0.017453179037697674
|
| 89 |
+
]
|
| 90 |
+
}
|
| 91 |
+
},
|
| 92 |
+
"grasp_29": {
|
| 93 |
+
"confidence": 0.4097042381763458,
|
| 94 |
+
"position": [
|
| 95 |
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-0.6143319978544649,
|
| 505 |
+
-0.6216434567077692,
|
| 506 |
+
0.352273809260463
|
| 507 |
+
]
|
| 508 |
+
}
|
| 509 |
+
},
|
| 510 |
+
"grasp_73": {
|
| 511 |
+
"confidence": 0.8482840657234192,
|
| 512 |
+
"position": [
|
| 513 |
+
0.12828210997395217,
|
| 514 |
+
-0.0026323706842958927,
|
| 515 |
+
0.09399814071366563
|
| 516 |
+
],
|
| 517 |
+
"orientation": {
|
| 518 |
+
"w": 0.474341136875235,
|
| 519 |
+
"xyz": [
|
| 520 |
+
-0.5307833667649744,
|
| 521 |
+
-0.5223106025369614,
|
| 522 |
+
0.46953289332167625
|
| 523 |
+
]
|
| 524 |
+
}
|
| 525 |
+
},
|
| 526 |
+
"grasp_74": {
|
| 527 |
+
"confidence": 0.8482660055160522,
|
| 528 |
+
"position": [
|
| 529 |
+
0.11978351580910385,
|
| 530 |
+
0.0012136413715779781,
|
| 531 |
+
0.1295252806157805
|
| 532 |
+
],
|
| 533 |
+
"orientation": {
|
| 534 |
+
"w": 0.3731763025797982,
|
| 535 |
+
"xyz": [
|
| 536 |
+
0.5987213019300469,
|
| 537 |
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-0.6113152802099543,
|
| 538 |
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-0.35856084280061223
|
| 539 |
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]
|
| 540 |
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}
|
| 541 |
+
},
|
| 542 |
+
"grasp_75": {
|
| 543 |
+
"confidence": 0.8480576276779175,
|
| 544 |
+
"position": [
|
| 545 |
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0.13540265965275466,
|
| 546 |
+
0.012481918092817068,
|
| 547 |
+
0.07838281156728044
|
| 548 |
+
],
|
| 549 |
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"orientation": {
|
| 550 |
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"w": 0.510888242480879,
|
| 551 |
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"xyz": [
|
| 552 |
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0.5049158824711366,
|
| 553 |
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-0.49460889867048585,
|
| 554 |
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-0.48930071804480324
|
| 555 |
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]
|
| 556 |
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}
|
| 557 |
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}
|
| 558 |
+
}
|
| 559 |
+
},
|
| 560 |
+
{
|
| 561 |
+
"part_name": "screw cap",
|
| 562 |
+
"mask_color": "Purple",
|
| 563 |
+
"graspable": true,
|
| 564 |
+
"grasp_scenarios": [
|
| 565 |
+
{
|
| 566 |
+
"scenario": "grasp and twist the cap to open the carton",
|
| 567 |
+
"confidence": 0.95
|
| 568 |
+
},
|
| 569 |
+
{
|
| 570 |
+
"scenario": "grasp and twist the cap to reseal the carton",
|
| 571 |
+
"confidence": 0.94
|
| 572 |
+
},
|
| 573 |
+
{
|
| 574 |
+
"scenario": "use a precision gripper on the cap to steady the top during alignment",
|
| 575 |
+
"confidence": 0.63
|
| 576 |
+
}
|
| 577 |
+
],
|
| 578 |
+
"functional_labels": [
|
| 579 |
+
"open pour spout",
|
| 580 |
+
"reseal container",
|
| 581 |
+
"control liquid dispensing",
|
| 582 |
+
"provide twisting interface"
|
| 583 |
+
],
|
| 584 |
+
"semantic_description": "Small white plastic cap with a slightly glossy finish and ridged sides for traction, mounted on one sloped top panel near the roof edge.",
|
| 585 |
+
"id": 5,
|
| 586 |
+
"grasp_group": {
|
| 587 |
+
"grasp_94": {
|
| 588 |
+
"confidence": 0.5704424381256104,
|
| 589 |
+
"position": [
|
| 590 |
+
-0.005508339498192072,
|
| 591 |
+
-0.0355742578394711,
|
| 592 |
+
0.16406892897794023
|
| 593 |
+
],
|
| 594 |
+
"orientation": {
|
| 595 |
+
"w": 0.11118462223950051,
|
| 596 |
+
"xyz": [
|
| 597 |
+
-0.7432555278326094,
|
| 598 |
+
0.650533532818666,
|
| 599 |
+
0.10961442789247514
|
| 600 |
+
]
|
| 601 |
+
}
|
| 602 |
+
}
|
| 603 |
+
}
|
| 604 |
+
},
|
| 605 |
+
{
|
| 606 |
+
"part_name": "top seam ridge",
|
| 607 |
+
"mask_color": "Orange-vertical seam region",
|
| 608 |
+
"graspable": false,
|
| 609 |
+
"grasp_scenarios": [],
|
| 610 |
+
"functional_labels": [
|
| 611 |
+
"seal folded top",
|
| 612 |
+
"connect roof panels",
|
| 613 |
+
"maintain carton closure",
|
| 614 |
+
"indicate top centerline"
|
| 615 |
+
],
|
| 616 |
+
"semantic_description": "Thin central folded seam rising along the roof peak, made of white coated paperboard with a matte smooth surface and a narrow raised profile running up the top center.",
|
| 617 |
+
"id": null
|
| 618 |
+
}
|
| 619 |
+
],
|
| 620 |
+
"quality_check": {
|
| 621 |
+
"success": false,
|
| 622 |
+
"message": "Several mask-part mappings and visual descriptions are incorrect; yellow is not front/back only, red shoulder color wrong, orange merges ridge/tab, side patterns mismatched."
|
| 623 |
+
}
|
| 624 |
+
}
|
dataset/food/beverages/0b87a800c0e8572394ca77d0d7a8221c/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ce945aa846e14409748f005a3f1aa949a93bafd3edc4991473164a0a4ed5bd0f
|
| 3 |
+
size 3785020
|
dataset/food/beverages/0b87a800c0e8572394ca77d0d7a8221c/milk_carton_020.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":"Cap is separate, but body surfaces are arbitrarily split and roof seam is mislabeled; not fixable by merging alone.","merge_groups":[]}</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>NO: {"summary":"Cap is separate, but body surfaces are arbitrarily split and roof seam is mislabeled; not fixable by merging alone.","merge_groups":[]}</PartSegChecker>
|