Add asset food/snack/a7efd56f1fca5a0584dd1a7bdd858435
Browse files
.gitattributes
CHANGED
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@@ -6882,4 +6882,4 @@ dataset/food/snack/849fb9200f9c595ba3c7165cf9cb36e9/affordance/mesh_part_seg.glb
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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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| 6884 |
dataset/food/snack/a0d8ca01396056c3a5af46497e3e56f7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6885 |
-
dataset/food/snack/
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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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| 6884 |
dataset/food/snack/a0d8ca01396056c3a5af46497e3e56f7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6885 |
+
dataset/food/snack/a7efd56f1fca5a0584dd1a7bdd858435/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/snack/a7efd56f1fca5a0584dd1a7bdd858435/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,547 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "sealed wrapper seam",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp a crimped edge to pull and tear open the gum wrapper",
|
| 10 |
+
"confidence": 0.89
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pinch the seam to pick up and reorient the wrapped gum",
|
| 14 |
+
"confidence": 0.63
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"seal the package",
|
| 19 |
+
"provide a tear edge",
|
| 20 |
+
"enable opening",
|
| 21 |
+
"retain the gum inside"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Narrow crimped edge strip of glossy printed plastic film, hard-flexible and smooth, running along the package perimeter with zigzag sealed ends and small relative width.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_10": {
|
| 27 |
+
"confidence": 0.9058486819267273,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.09878897012094967,
|
| 30 |
+
-0.0370995108387433,
|
| 31 |
+
0.0029298345907591283
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.700517426573362,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.03578570456817977,
|
| 37 |
+
0.7112036268702219,
|
| 38 |
+
0.0467345647485342
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
}
|
| 42 |
+
}
|
| 43 |
+
},
|
| 44 |
+
{
|
| 45 |
+
"part_name": "wrapper body",
|
| 46 |
+
"mask_color": "Green",
|
| 47 |
+
"graspable": true,
|
| 48 |
+
"grasp_scenarios": [
|
| 49 |
+
{
|
| 50 |
+
"scenario": "grasp the main wrapper body to pick up the wrapped gum",
|
| 51 |
+
"confidence": 0.94
|
| 52 |
+
},
|
| 53 |
+
{
|
| 54 |
+
"scenario": "hold the wrapper body to stabilize it while another gripper opens a seam",
|
| 55 |
+
"confidence": 0.81
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"functional_labels": [
|
| 59 |
+
"contain the chewing gum",
|
| 60 |
+
"protect from contamination",
|
| 61 |
+
"provide main grasp surface",
|
| 62 |
+
"display product branding"
|
| 63 |
+
],
|
| 64 |
+
"semantic_description": "Broad pillow-like packet body made of glossy printed plastic film in green and yellow, smooth and slightly padded, covering most of the object with visible logo and text on the front.",
|
| 65 |
+
"id": 1,
|
| 66 |
+
"grasp_group": {
|
| 67 |
+
"grasp_20": {
|
| 68 |
+
"confidence": 0.9928470253944397,
|
| 69 |
+
"position": [
|
| 70 |
+
0.10999402313609608,
|
| 71 |
+
-0.014990592782851309,
|
| 72 |
+
-0.0007549964357167482
|
| 73 |
+
],
|
| 74 |
+
"orientation": {
|
| 75 |
+
"w": 0.009048771973289689,
|
| 76 |
+
"xyz": [
|
| 77 |
+
-0.7062916087682651,
|
| 78 |
+
0.019343377022268515,
|
| 79 |
+
0.7075988389438507
|
| 80 |
+
]
|
| 81 |
+
}
|
| 82 |
+
},
|
| 83 |
+
"grasp_21": {
|
| 84 |
+
"confidence": 0.9924901127815247,
|
| 85 |
+
"position": [
|
| 86 |
+
0.10889790116925724,
|
| 87 |
+
-0.016180908714886755,
|
| 88 |
+
-0.001160365587566048
|
| 89 |
+
],
|
| 90 |
+
"orientation": {
|
| 91 |
+
"w": 0.02274646568700052,
|
| 92 |
+
"xyz": [
|
| 93 |
+
-0.6980413155564295,
|
| 94 |
+
0.027769420716448168,
|
| 95 |
+
0.7151571710806462
|
| 96 |
+
]
|
| 97 |
+
}
|
| 98 |
+
},
|
| 99 |
+
"grasp_22": {
|
| 100 |
+
"confidence": 0.992387056350708,
|
| 101 |
+
"position": [
|
| 102 |
+
0.11067645161529072,
|
| 103 |
+
-0.005825783067848533,
|
| 104 |
+
-0.0032310959068126976
|
| 105 |
+
],
|
| 106 |
+
"orientation": {
|
| 107 |
+
"w": 0.017282059937252563,
|
| 108 |
+
"xyz": [
|
| 109 |
+
-0.6994590870591445,
|
| 110 |
+
0.022866187716683806,
|
| 111 |
+
0.7140976497608844
|
| 112 |
+
]
|
| 113 |
+
}
|
| 114 |
+
},
|
| 115 |
+
"grasp_23": {
|
| 116 |
+
"confidence": 0.9921634197235107,
|
| 117 |
+
"position": [
|
| 118 |
+
0.11246512740035541,
|
| 119 |
+
-0.007292813097592443,
|
| 120 |
+
-0.0006332219345495105
|
| 121 |
+
],
|
| 122 |
+
"orientation": {
|
| 123 |
+
"w": 0.014135084823248024,
|
| 124 |
+
"xyz": [
|
| 125 |
+
0.7062399735039876,
|
| 126 |
+
-0.012866541642220342,
|
| 127 |
+
-0.7077144560543437
|
| 128 |
+
]
|
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}
|
| 540 |
+
}
|
| 541 |
+
}
|
| 542 |
+
],
|
| 543 |
+
"quality_check": {
|
| 544 |
+
"success": true,
|
| 545 |
+
"message": "YES"
|
| 546 |
+
}
|
| 547 |
+
}
|
dataset/food/snack/a7efd56f1fca5a0584dd1a7bdd858435/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:15b1b478f437c8f94157dc1ad3fa9ac2b226e5064d4ade5c3409b6dc11c74116
|
| 3 |
+
size 3780788
|