Add asset food/snack/f4580209e4e75ad78bada63e06fa42d2
Browse files
.gitattributes
CHANGED
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@@ -6898,3 +6898,4 @@ dataset/food/snack/e33d34b26a265b3785e4b6d54e088554/affordance/mesh_part_seg.glb
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| 6898 |
dataset/food/snack/e45ddb4b0d9b57948ffefa48132df0e9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6899 |
dataset/food/snack/ebda13bb5d8a5f2f90312e8c2e6e2494/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6900 |
dataset/food/snack/f3dcd469dc745903827e6f7ff7f91ba8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6898 |
dataset/food/snack/e45ddb4b0d9b57948ffefa48132df0e9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6899 |
dataset/food/snack/ebda13bb5d8a5f2f90312e8c2e6e2494/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6900 |
dataset/food/snack/f3dcd469dc745903827e6f7ff7f91ba8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6901 |
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dataset/food/snack/f4580209e4e75ad78bada63e06fa42d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/snack/f4580209e4e75ad78bada63e06fa42d2/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
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| 3 |
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{
|
| 4 |
+
"part_name": "wrapper body",
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| 5 |
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|
| 6 |
+
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|
| 7 |
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| 8 |
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{
|
| 9 |
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"scenario": "grasp the center of the wrapped candy to pick it up",
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| 10 |
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| 11 |
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},
|
| 12 |
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{
|
| 13 |
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"scenario": "hold the main wrapper to stabilize the candy during placement",
|
| 14 |
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"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
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{
|
| 17 |
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"scenario": "pinch the wrapper body to reorient the candy on a surface",
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| 18 |
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| 19 |
+
}
|
| 20 |
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],
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| 21 |
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| 22 |
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"contain the candy",
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| 23 |
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"protect the food",
|
| 24 |
+
"provide main grasp surface",
|
| 25 |
+
"carry printed branding"
|
| 26 |
+
],
|
| 27 |
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"semantic_description": "Main flexible plastic wrapper covering most of the candy, with a glossy smooth slightly crinkled surface. It is predominantly dark brown on the visible face with cream sections near the ends and printed branding on the front.",
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| 28 |
+
"id": 5,
|
| 29 |
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| 30 |
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| 31 |
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},
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}
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}
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},
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{
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"part_name": "left sealed end",
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{
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"scenario": "pinch the left crimped end to lift or drag the wrapped candy",
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},
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{
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"scenario": "grasp the left sealed edge to begin tearing the wrapper open",
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}
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| 317 |
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],
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| 318 |
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"seal the package",
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| 320 |
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"enable opening by tearing",
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| 321 |
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"retain contents"
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| 322 |
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],
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| 323 |
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"semantic_description": "One narrow crimped wrapper end with a ribbed sealed edge. It appears as a short cream-colored glossy plastic end flap.",
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| 324 |
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],
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},
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| 789 |
+
"orientation": {
|
| 790 |
+
"w": 0.5087336775857243,
|
| 791 |
+
"xyz": [
|
| 792 |
+
0.5211406648621192,
|
| 793 |
+
0.5016958817306643,
|
| 794 |
+
-0.46680155845033877
|
| 795 |
+
]
|
| 796 |
+
}
|
| 797 |
+
},
|
| 798 |
+
"grasp_36": {
|
| 799 |
+
"confidence": 0.9480186104774475,
|
| 800 |
+
"position": [
|
| 801 |
+
0.17307464813347906,
|
| 802 |
+
0.1301845404668711,
|
| 803 |
+
0.013118244940415025
|
| 804 |
+
],
|
| 805 |
+
"orientation": {
|
| 806 |
+
"w": 0.6772862970902896,
|
| 807 |
+
"xyz": [
|
| 808 |
+
-0.010164773419822904,
|
| 809 |
+
-0.735619753068545,
|
| 810 |
+
-0.006597579133369489
|
| 811 |
+
]
|
| 812 |
+
}
|
| 813 |
+
},
|
| 814 |
+
"grasp_38": {
|
| 815 |
+
"confidence": 0.9470611214637756,
|
| 816 |
+
"position": [
|
| 817 |
+
0.05541743373032659,
|
| 818 |
+
0.23561998637160286,
|
| 819 |
+
0.009622197831049562
|
| 820 |
+
],
|
| 821 |
+
"orientation": {
|
| 822 |
+
"w": 0.5037862212533066,
|
| 823 |
+
"xyz": [
|
| 824 |
+
0.5246183598380162,
|
| 825 |
+
0.4938984055629556,
|
| 826 |
+
-0.47648650010105675
|
| 827 |
+
]
|
| 828 |
+
}
|
| 829 |
+
}
|
| 830 |
+
}
|
| 831 |
+
},
|
| 832 |
+
{
|
| 833 |
+
"part_name": "main script logo",
|
| 834 |
+
"mask_color": "Green",
|
| 835 |
+
"graspable": false,
|
| 836 |
+
"grasp_scenarios": [],
|
| 837 |
+
"functional_labels": [
|
| 838 |
+
"identify the product",
|
| 839 |
+
"provide branding",
|
| 840 |
+
"indicate the front face"
|
| 841 |
+
],
|
| 842 |
+
"semantic_description": "Large stylized script logo printed across the dark brown front panel. In the RGB image it appears cream or light tan, flat-printed on the glossy wrapper.",
|
| 843 |
+
"id": 1,
|
| 844 |
+
"grasp_group": {}
|
| 845 |
+
},
|
| 846 |
+
{
|
| 847 |
+
"part_name": "secondary script text",
|
| 848 |
+
"mask_color": "Orange",
|
| 849 |
+
"graspable": false,
|
| 850 |
+
"grasp_scenarios": [],
|
| 851 |
+
"functional_labels": [
|
| 852 |
+
"provide branding detail",
|
| 853 |
+
"highlight product name",
|
| 854 |
+
"aid visual recognition"
|
| 855 |
+
],
|
| 856 |
+
"semantic_description": "Smaller stylized printed text adjacent to the main script logo on the front face. In the RGB image it appears cream or light tan on the dark brown wrapper.",
|
| 857 |
+
"id": 4,
|
| 858 |
+
"grasp_group": {}
|
| 859 |
+
},
|
| 860 |
+
{
|
| 861 |
+
"part_name": "small printed text",
|
| 862 |
+
"mask_color": "Magenta",
|
| 863 |
+
"graspable": false,
|
| 864 |
+
"grasp_scenarios": [],
|
| 865 |
+
"functional_labels": [
|
| 866 |
+
"display product information",
|
| 867 |
+
"provide labeling",
|
| 868 |
+
"aid identification"
|
| 869 |
+
],
|
| 870 |
+
"semantic_description": "Small printed characters on the wrapper, visible as fine light-colored text near the logo area and on some side regions, with a flat ink-like finish.",
|
| 871 |
+
"id": 7,
|
| 872 |
+
"grasp_group": {}
|
| 873 |
+
},
|
| 874 |
+
{
|
| 875 |
+
"part_name": "small graphic mark",
|
| 876 |
+
"mask_color": "Cyan",
|
| 877 |
+
"graspable": false,
|
| 878 |
+
"grasp_scenarios": [],
|
| 879 |
+
"functional_labels": [
|
| 880 |
+
"provide decorative detail",
|
| 881 |
+
"support branding",
|
| 882 |
+
"mark package face"
|
| 883 |
+
],
|
| 884 |
+
"semantic_description": "A small light-colored printed graphic element on the wrapper surface, separate from the main script logo and secondary text, printed flat on the glossy film.",
|
| 885 |
+
"id": 6,
|
| 886 |
+
"grasp_group": {}
|
| 887 |
+
}
|
| 888 |
+
],
|
| 889 |
+
"quality_check": {
|
| 890 |
+
"success": false,
|
| 891 |
+
"message": "Printed-part identities and colors are mismatched; orange text is main logo, green is Chinese text, cyan marks are not a single graphic."
|
| 892 |
+
}
|
| 893 |
+
}
|
dataset/food/snack/f4580209e4e75ad78bada63e06fa42d2/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b1a2944f838aff9d15e6959220dfd2f4d323627536fedf52cca4f6e75339751e
|
| 3 |
+
size 3785292
|
dataset/food/snack/f4580209e4e75ad78bada63e06fa42d2/chocolate_009.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>
|