Add asset food/beverages/deb1095a3fe15233a36132f650ccbc79
Browse files
.gitattributes
CHANGED
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@@ -6742,4 +6742,4 @@ dataset/food/beverages/c56e7915cf8056a0970bfc322dc0adda/affordance/mesh_part_seg
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| 6742 |
dataset/food/beverages/cdead305a2a656628126f45c94b59d90/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6743 |
dataset/food/beverages/d086e0a48769538c93522e95808b355c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6744 |
dataset/food/beverages/d45abc908aee598bbc1506fa9bf7df1d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6745 |
-
dataset/food/beverages/
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| 6742 |
dataset/food/beverages/cdead305a2a656628126f45c94b59d90/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6743 |
dataset/food/beverages/d086e0a48769538c93522e95808b355c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6744 |
dataset/food/beverages/d45abc908aee598bbc1506fa9bf7df1d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6745 |
+
dataset/food/beverages/deb1095a3fe15233a36132f650ccbc79/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/beverages/deb1095a3fe15233a36132f650ccbc79/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,1179 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "carton body",
|
| 5 |
+
"mask_color": "Deep Sky Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the side walls to pick up and hold the carton",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize the carton while manipulating the top features",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the lower body for transport or placement",
|
| 18 |
+
"confidence": 0.93
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain liquid",
|
| 23 |
+
"main structural shell",
|
| 24 |
+
"main grasp surface",
|
| 25 |
+
"support printed labeling",
|
| 26 |
+
"stabilize the package upright"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large rectangular paperboard carton body forming most of the container volume, with smooth glossy printed sides. The visible artwork is mainly blue on the upper body, white/pink in the middle, and light green on the lower half with colorful graphics on some faces.",
|
| 29 |
+
"id": 22,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_60": {
|
| 32 |
+
"confidence": 0.9612002372741699,
|
| 33 |
+
"position": [
|
| 34 |
+
0.10207736142911017,
|
| 35 |
+
0.007390745333395898,
|
| 36 |
+
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|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.6216428409260862,
|
| 40 |
+
"xyz": [
|
| 41 |
+
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|
| 42 |
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|
| 43 |
+
0.5978300449053573
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_63": {
|
| 48 |
+
"confidence": 0.9568556547164917,
|
| 49 |
+
"position": [
|
| 50 |
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0.10249454178847373,
|
| 51 |
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0.012584786862134933,
|
| 52 |
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|
| 53 |
+
],
|
| 54 |
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"orientation": {
|
| 55 |
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|
| 56 |
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| 57 |
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| 58 |
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| 59 |
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0.6102096518502825
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| 60 |
+
]
|
| 61 |
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}
|
| 62 |
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},
|
| 63 |
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"grasp_64": {
|
| 64 |
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"confidence": 0.9557138085365295,
|
| 65 |
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|
| 66 |
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|
| 67 |
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0.004123933846130967,
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| 68 |
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|
| 69 |
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],
|
| 70 |
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"orientation": {
|
| 71 |
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|
| 72 |
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| 73 |
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| 74 |
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| 75 |
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| 76 |
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]
|
| 77 |
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}
|
| 78 |
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},
|
| 79 |
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"grasp_67": {
|
| 80 |
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|
| 81 |
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| 82 |
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|
| 83 |
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0.007507326721679419,
|
| 84 |
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|
| 85 |
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],
|
| 86 |
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"orientation": {
|
| 87 |
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"w": 0.5242690709806059,
|
| 88 |
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"xyz": [
|
| 89 |
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0.47272590010376087,
|
| 90 |
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0.4680848405755822,
|
| 91 |
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0.5315719580711098
|
| 92 |
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]
|
| 93 |
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}
|
| 94 |
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},
|
| 95 |
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"grasp_76": {
|
| 96 |
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"confidence": 0.9414342045783997,
|
| 97 |
+
"position": [
|
| 98 |
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|
| 99 |
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0.12327985651791096,
|
| 100 |
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|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
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"w": 0.7063074380124374,
|
| 104 |
+
"xyz": [
|
| 105 |
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0.7075165427592925,
|
| 106 |
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|
| 107 |
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0.02132473168237659
|
| 108 |
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]
|
| 109 |
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}
|
| 110 |
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},
|
| 111 |
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"grasp_78": {
|
| 112 |
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"confidence": 0.9400801658630371,
|
| 113 |
+
"position": [
|
| 114 |
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-0.11898442707024515,
|
| 115 |
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0.0030154078267514706,
|
| 116 |
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-0.05019899923354387
|
| 117 |
+
],
|
| 118 |
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"orientation": {
|
| 119 |
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"w": 0.5037906875508364,
|
| 120 |
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"xyz": [
|
| 121 |
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0.4849327713372957,
|
| 122 |
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0.49359696436898315,
|
| 123 |
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0.5171046191883323
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
}
|
| 127 |
+
}
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"part_name": "gable top",
|
| 131 |
+
"mask_color": "Maroon",
|
| 132 |
+
"graspable": true,
|
| 133 |
+
"grasp_scenarios": [
|
| 134 |
+
{
|
| 135 |
+
"scenario": "grasp the folded top to orient the carton before pouring or drinking",
|
| 136 |
+
"confidence": 0.64
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"scenario": "pinch the top section to stabilize the carton while manipulating the straw or cap",
|
| 140 |
+
"confidence": 0.69
|
| 141 |
+
}
|
| 142 |
+
],
|
| 143 |
+
"functional_labels": [
|
| 144 |
+
"form the top closure",
|
| 145 |
+
"support top-mounted opening features",
|
| 146 |
+
"indicate top orientation",
|
| 147 |
+
"help shape the pouring/drinking area"
|
| 148 |
+
],
|
| 149 |
+
"semantic_description": "Folded gable-shaped paperboard top section at the uppermost part of the carton, with smooth glossy blue printed faces and white folded ridge edges.",
|
| 150 |
+
"id": 12,
|
| 151 |
+
"grasp_group": {
|
| 152 |
+
"grasp_40": {
|
| 153 |
+
"confidence": 0.8461839556694031,
|
| 154 |
+
"position": [
|
| 155 |
+
0.0018279149662703276,
|
| 156 |
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-0.10075095854699612,
|
| 157 |
+
0.026529555208981037
|
| 158 |
+
],
|
| 159 |
+
"orientation": {
|
| 160 |
+
"w": 0.0060493140097591346,
|
| 161 |
+
"xyz": [
|
| 162 |
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0.005467954790502121,
|
| 163 |
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-0.736890752861168,
|
| 164 |
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-0.6759626658463628
|
| 165 |
+
]
|
| 166 |
+
}
|
| 167 |
+
},
|
| 168 |
+
"grasp_41": {
|
| 169 |
+
"confidence": 0.8319219350814819,
|
| 170 |
+
"position": [
|
| 171 |
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0.0004232884384691715,
|
| 172 |
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-0.09891910664737225,
|
| 173 |
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-0.038905550725758076
|
| 174 |
+
],
|
| 175 |
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"orientation": {
|
| 176 |
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"w": 0.8376146850512842,
|
| 177 |
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"xyz": [
|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
+
]
|
| 182 |
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}
|
| 183 |
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},
|
| 184 |
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"grasp_42": {
|
| 185 |
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"confidence": 0.826728880405426,
|
| 186 |
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"position": [
|
| 187 |
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0.0017355855088680983,
|
| 188 |
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|
| 189 |
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0.0023129595210775733
|
| 190 |
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],
|
| 191 |
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"orientation": {
|
| 192 |
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"w": 0.712419103975682,
|
| 193 |
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"xyz": [
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| 194 |
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| 195 |
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| 196 |
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0.005674965558338353
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| 197 |
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]
|
| 198 |
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}
|
| 199 |
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},
|
| 200 |
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"grasp_43": {
|
| 201 |
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"confidence": 0.8242608308792114,
|
| 202 |
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"position": [
|
| 203 |
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|
| 204 |
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|
| 205 |
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0.005174176534637809
|
| 206 |
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],
|
| 207 |
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"orientation": {
|
| 208 |
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"w": 0.7086577401799096,
|
| 209 |
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"xyz": [
|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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]
|
| 214 |
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}
|
| 215 |
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},
|
| 216 |
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"grasp_44": {
|
| 217 |
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"confidence": 0.8162760138511658,
|
| 218 |
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"position": [
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| 219 |
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|
| 220 |
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0.12108154781162739,
|
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0.008348781615495682
|
| 222 |
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],
|
| 223 |
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"orientation": {
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| 224 |
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"w": 0.6968572283309041,
|
| 225 |
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0.7169131072456204,
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0.002075958638222075,
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0.020525359391055147
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| 229 |
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]
|
| 230 |
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}
|
| 231 |
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},
|
| 232 |
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"grasp_45": {
|
| 233 |
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"confidence": 0.8115273714065552,
|
| 234 |
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"position": [
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0.11993862874805927,
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0.0046934488927945495
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],
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"orientation": {
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0.7003140542875674,
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0.008840094282622446,
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]
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| 246 |
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}
|
| 247 |
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},
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| 248 |
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"grasp_46": {
|
| 249 |
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"confidence": 0.8114067912101746,
|
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"position": [
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|
| 252 |
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| 253 |
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0.003220522601623088
|
| 254 |
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"xyz": [
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0.1336844814941287
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],
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"w": 0.19141061339105014,
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"xyz": [
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|
| 1138 |
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|
| 1139 |
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]
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}
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| 1141 |
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},
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"grasp_39": {
|
| 1143 |
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"confidence": 0.9189496636390686,
|
| 1144 |
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"position": [
|
| 1145 |
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|
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0.0016776546835899353,
|
| 1147 |
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0.12637809943407774
|
| 1148 |
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],
|
| 1149 |
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"orientation": {
|
| 1150 |
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"w": 0.19303250997366667,
|
| 1151 |
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"xyz": [
|
| 1152 |
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0.675820485299743,
|
| 1153 |
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|
| 1154 |
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|
| 1155 |
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]
|
| 1156 |
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}
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| 1157 |
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}
|
| 1158 |
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}
|
| 1159 |
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},
|
| 1160 |
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{
|
| 1161 |
+
"part_name": "small decorative print patch",
|
| 1162 |
+
"mask_color": "Green",
|
| 1163 |
+
"graspable": false,
|
| 1164 |
+
"grasp_scenarios": [],
|
| 1165 |
+
"functional_labels": [
|
| 1166 |
+
"decorate the package",
|
| 1167 |
+
"provide visual differentiation",
|
| 1168 |
+
"mark a small printed accent area"
|
| 1169 |
+
],
|
| 1170 |
+
"semantic_description": "Very small green printed accent patch on the upper carton surface, appearing as a flat glossy graphic element with no protruding structure.",
|
| 1171 |
+
"id": 1,
|
| 1172 |
+
"grasp_group": {}
|
| 1173 |
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}
|
| 1174 |
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],
|
| 1175 |
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"quality_check": {
|
| 1176 |
+
"success": false,
|
| 1177 |
+
"message": "Several mask-color/part identities are wrong; printed graphics are mis-segmented and straw port color mismatches visible masks."
|
| 1178 |
+
}
|
| 1179 |
+
}
|
dataset/food/beverages/deb1095a3fe15233a36132f650ccbc79/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:22eb4aea83738bc107bd730a900421a77e822a18990c72f4c6ccd89fd40c8a6d
|
| 3 |
+
size 3818628
|
dataset/food/beverages/deb1095a3fe15233a36132f650ccbc79/milk_carton_015.urdf
CHANGED
|
@@ -47,16 +47,17 @@
|
|
| 47 |
</link>
|
| 48 |
<custom_data>
|
| 49 |
<affordance>
|
| 50 |
-
<part_count>
|
| 51 |
<visual_seg>
|
| 52 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 53 |
<geometry>
|
| 54 |
-
<mesh filename="
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
|
|
|
| 57 |
</affordance>
|
| 58 |
<quality>
|
| 59 |
-
<PartSegChecker>NO:
|
| 60 |
</quality>
|
| 61 |
</custom_data>
|
| 62 |
</robot>
|
|
|
|
| 47 |
</link>
|
| 48 |
<custom_data>
|
| 49 |
<affordance>
|
| 50 |
+
<part_count>7</part_count>
|
| 51 |
<visual_seg>
|
| 52 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 53 |
<geometry>
|
| 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":"Functional parts are mislabeled by graphics/areas; only cap and straw are clear. Merging cannot fix main body oversegmentation.","merge_groups":[{"colors":["Green","Blue","Gray"],"target_part":"main carton body","reason":"same carton shell split into arbitrary zones"},{"colors":["Yellow","Pink"],"target_part":"closure assembly","reason":"cap and straw/nearby piece treated inconsistently"}]}</PartSegChecker>
|
| 61 |
</quality>
|
| 62 |
</custom_data>
|
| 63 |
</robot>
|