Add asset food/snack/5a4ee561c97c508dae092a855a84b6a3
Browse files
.gitattributes
CHANGED
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@@ -6869,4 +6869,4 @@ dataset/food/snack/3d9da38f77b356a781101e05d7cfe673/affordance/mesh_part_seg.glb
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| 6869 |
dataset/food/snack/462e0096afa956a08308187afd89d50c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6870 |
dataset/food/snack/47c57c46000757e59463da94f27c64f7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6871 |
dataset/food/snack/4b38591903d35cfc98afc374dc63daa5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6872 |
-
dataset/food/snack/
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| 6869 |
dataset/food/snack/462e0096afa956a08308187afd89d50c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6870 |
dataset/food/snack/47c57c46000757e59463da94f27c64f7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6871 |
dataset/food/snack/4b38591903d35cfc98afc374dc63daa5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6872 |
+
dataset/food/snack/5a4ee561c97c508dae092a855a84b6a3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/snack/5a4ee561c97c508dae092a855a84b6a3/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,423 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "main wrapper body",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main wrapped body to pick up and move the candy",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize the candy while opening the twisted top",
|
| 14 |
+
"confidence": 0.92
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the body for placement or packing",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain the chocolate",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"protect the candy",
|
| 25 |
+
"provide package structure",
|
| 26 |
+
"support handling"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large bulbous teardrop-shaped main wrapper forming most of the package, with a smooth glossy crinkled foil or film surface. It appears metallic gold with red HERSHEY'S branding and small printed text on some sides, while other sides are mostly plain gold.",
|
| 29 |
+
"id": 2,
|
| 30 |
+
"grasp_group": {
|
| 31 |
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"grasp_12": {
|
| 32 |
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"confidence": 0.9188278317451477,
|
| 33 |
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"position": [
|
| 34 |
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|
| 35 |
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0.017974230693653226,
|
| 36 |
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|
| 37 |
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],
|
| 38 |
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"orientation": {
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| 39 |
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"w": 0.3111050265548899,
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| 40 |
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"xyz": [
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| 41 |
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| 42 |
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|
| 43 |
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|
| 44 |
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]
|
| 45 |
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}
|
| 46 |
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},
|
| 47 |
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"grasp_13": {
|
| 48 |
+
"confidence": 0.918718159198761,
|
| 49 |
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"position": [
|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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],
|
| 54 |
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"orientation": {
|
| 55 |
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"w": 0.2908800500072025,
|
| 56 |
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"xyz": [
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| 57 |
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| 58 |
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| 59 |
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|
| 60 |
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]
|
| 61 |
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}
|
| 62 |
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},
|
| 63 |
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"grasp_14": {
|
| 64 |
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"confidence": 0.9142866134643555,
|
| 65 |
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"position": [
|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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],
|
| 70 |
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"orientation": {
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| 71 |
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"w": 0.1441803483524104,
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| 72 |
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"xyz": [
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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_15": {
|
| 80 |
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"confidence": 0.9110090732574463,
|
| 81 |
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"position": [
|
| 82 |
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| 83 |
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|
| 84 |
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|
| 85 |
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],
|
| 86 |
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"orientation": {
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| 87 |
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"w": 0.4522850362748153,
|
| 88 |
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"xyz": [
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|
| 90 |
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|
| 91 |
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|
| 92 |
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]
|
| 93 |
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}
|
| 94 |
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},
|
| 95 |
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"grasp_16": {
|
| 96 |
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"confidence": 0.9066399335861206,
|
| 97 |
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"position": [
|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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],
|
| 102 |
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"orientation": {
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"w": 0.28539571996883656,
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"xyz": [
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| 108 |
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]
|
| 109 |
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}
|
| 110 |
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},
|
| 111 |
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"grasp_17": {
|
| 112 |
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"confidence": 0.905493438243866,
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| 113 |
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"position": [
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| 114 |
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| 115 |
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| 116 |
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|
| 117 |
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],
|
| 118 |
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"orientation": {
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"w": 0.2996207719367078,
|
| 120 |
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"xyz": [
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| 122 |
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|
| 123 |
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|
| 124 |
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]
|
| 125 |
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}
|
| 126 |
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},
|
| 127 |
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"grasp_18": {
|
| 128 |
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"confidence": 0.9034819602966309,
|
| 129 |
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"position": [
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| 130 |
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| 133 |
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],
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"orientation": {
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| 135 |
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| 140 |
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]
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| 141 |
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}
|
| 142 |
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},
|
| 143 |
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"grasp_19": {
|
| 144 |
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"confidence": 0.9030655026435852,
|
| 145 |
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"position": [
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],
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}
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},
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| 159 |
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"grasp_20": {
|
| 160 |
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"confidence": 0.9023401737213135,
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"position": [
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| 165 |
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],
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| 166 |
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"orientation": {
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}
|
| 174 |
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},
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"grasp_21": {
|
| 176 |
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"confidence": 0.9018445611000061,
|
| 177 |
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"position": [
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"orientation": {
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"scenario": "pinch the twisted top to lift or reposition the candy lightly",
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"seal the package top"
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],
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"semantic_description": "Small gathered twisted tuft at the top made from the same wrapper material, colored metallic gold with a glossy reflective finish and wrinkled ruffled shape.",
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"success": true,
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"message": "YES"
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}
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}
|
dataset/food/snack/5a4ee561c97c508dae092a855a84b6a3/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:7d8809bf3dddca62d6a6a101d30d3cf66812f348ac8272ddc0919254c1044366
|
| 3 |
+
size 3778048
|
dataset/food/snack/5a4ee561c97c508dae092a855a84b6a3/chocolate_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>
|