Add asset food/snack/b80f9d5023f6516393cd15d77d561070
Browse files
.gitattributes
CHANGED
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@@ -6890,4 +6890,4 @@ dataset/food/snack/bde493d11d265f449ff14449c382450b/affordance/mesh_part_seg.glb
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| 6890 |
dataset/food/snack/c4d558c3e8b851ca900983d8c3691db0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6891 |
dataset/food/snack/c8ea14aadc6d595e9bf3dbd86fef7866/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6892 |
dataset/food/snack/d30f92d30c70597a917062e5793b52b7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6893 |
-
dataset/food/snack/
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| 6890 |
dataset/food/snack/c4d558c3e8b851ca900983d8c3691db0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6891 |
dataset/food/snack/c8ea14aadc6d595e9bf3dbd86fef7866/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6892 |
dataset/food/snack/d30f92d30c70597a917062e5793b52b7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6893 |
+
dataset/food/snack/b80f9d5023f6516393cd15d77d561070/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/snack/b80f9d5023f6516393cd15d77d561070/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,442 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "top biscuit surface",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the biscuit across the broad faces to pick it up from above",
|
| 10 |
+
"confidence": 0.91
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pinch the biscuit at the top face and opposite side to reposition it on a tray",
|
| 14 |
+
"confidence": 0.82
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"main grasp surface",
|
| 19 |
+
"provide edible top crust",
|
| 20 |
+
"present biscuit appearance",
|
| 21 |
+
"support stacking or placement"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large square biscuit top with rounded corners, light golden-brown baked food surface, matte dry slightly crumbly texture, small dock holes and darker toasted spots, covering the broad upper face.",
|
| 24 |
+
"id": 1,
|
| 25 |
+
"grasp_group": {
|
| 26 |
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"grasp_23": {
|
| 27 |
+
"confidence": 0.618731677532196,
|
| 28 |
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"position": [
|
| 29 |
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| 30 |
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|
| 31 |
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|
| 32 |
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],
|
| 33 |
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"orientation": {
|
| 34 |
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"w": 0.7007599218144326,
|
| 35 |
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"xyz": [
|
| 36 |
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|
| 37 |
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-0.04091049251923151,
|
| 38 |
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|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_25": {
|
| 43 |
+
"confidence": 0.29117897152900696,
|
| 44 |
+
"position": [
|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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],
|
| 49 |
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"orientation": {
|
| 50 |
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"w": 0.46631927480706375,
|
| 51 |
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"xyz": [
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| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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]
|
| 56 |
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}
|
| 57 |
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},
|
| 58 |
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"grasp_28": {
|
| 59 |
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"confidence": 0.5693426728248596,
|
| 60 |
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"position": [
|
| 61 |
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|
| 62 |
+
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|
| 63 |
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-0.040390218142420053
|
| 64 |
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],
|
| 65 |
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"orientation": {
|
| 66 |
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"w": 0.8538292919330176,
|
| 67 |
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"xyz": [
|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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]
|
| 72 |
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}
|
| 73 |
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},
|
| 74 |
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"grasp_31": {
|
| 75 |
+
"confidence": 0.23583270609378815,
|
| 76 |
+
"position": [
|
| 77 |
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|
| 78 |
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-0.002763882395811379,
|
| 79 |
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|
| 80 |
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],
|
| 81 |
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"orientation": {
|
| 82 |
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"w": 0.3510444400741399,
|
| 83 |
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"xyz": [
|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_37": {
|
| 91 |
+
"confidence": 0.8509272933006287,
|
| 92 |
+
"position": [
|
| 93 |
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|
| 94 |
+
-0.02337885566521436,
|
| 95 |
+
0.003831697453279048
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
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"w": 0.7057931912828761,
|
| 99 |
+
"xyz": [
|
| 100 |
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0.014892144689418522,
|
| 101 |
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0.7082613774444118,
|
| 102 |
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|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_39": {
|
| 107 |
+
"confidence": 0.6135980486869812,
|
| 108 |
+
"position": [
|
| 109 |
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0.0030706279212608933,
|
| 110 |
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0.0894223217619583,
|
| 111 |
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-0.043924345169216394
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
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"w": 0.03604174998931056,
|
| 115 |
+
"xyz": [
|
| 116 |
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0.006231659237028923,
|
| 117 |
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0.5087018062270644,
|
| 118 |
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-0.8601654672341735
|
| 119 |
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]
|
| 120 |
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}
|
| 121 |
+
}
|
| 122 |
+
}
|
| 123 |
+
},
|
| 124 |
+
{
|
| 125 |
+
"part_name": "bottom biscuit surface",
|
| 126 |
+
"mask_color": "Red",
|
| 127 |
+
"graspable": true,
|
| 128 |
+
"grasp_scenarios": [
|
| 129 |
+
{
|
| 130 |
+
"scenario": "grasp the biscuit across the broad faces to lift it from a surface",
|
| 131 |
+
"confidence": 0.89
|
| 132 |
+
},
|
| 133 |
+
{
|
| 134 |
+
"scenario": "hold the biscuit by the lower face and opposite edge for placement or packaging",
|
| 135 |
+
"confidence": 0.8
|
| 136 |
+
}
|
| 137 |
+
],
|
| 138 |
+
"functional_labels": [
|
| 139 |
+
"main support surface",
|
| 140 |
+
"contact table or tray",
|
| 141 |
+
"provide edible underside",
|
| 142 |
+
"stabilize resting orientation"
|
| 143 |
+
],
|
| 144 |
+
"semantic_description": "Broad flat underside of the square biscuit, pale golden baked food material with a matte dry hard-crisp texture, shallow holes and faint cracks, forming the lower resting face.",
|
| 145 |
+
"id": 0,
|
| 146 |
+
"grasp_group": {
|
| 147 |
+
"grasp_0": {
|
| 148 |
+
"confidence": 0.9702453017234802,
|
| 149 |
+
"position": [
|
| 150 |
+
0.01734882907476276,
|
| 151 |
+
-0.11072694614995271,
|
| 152 |
+
0.0005322417709976435
|
| 153 |
+
],
|
| 154 |
+
"orientation": {
|
| 155 |
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"w": 0.5030238296610169,
|
| 156 |
+
"xyz": [
|
| 157 |
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-0.5061726938894244,
|
| 158 |
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0.486443511058122,
|
| 159 |
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0.5041120324921184
|
| 160 |
+
]
|
| 161 |
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}
|
| 162 |
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},
|
| 163 |
+
"grasp_1": {
|
| 164 |
+
"confidence": 0.9916205406188965,
|
| 165 |
+
"position": [
|
| 166 |
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0.1125851230463013,
|
| 167 |
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-0.0077622962417081,
|
| 168 |
+
0.0022446984658017755
|
| 169 |
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],
|
| 170 |
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"orientation": {
|
| 171 |
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"w": 0.002539349742642979,
|
| 172 |
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"xyz": [
|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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dataset/food/snack/b80f9d5023f6516393cd15d77d561070/affordance/mesh_part_seg.glb
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@@ -0,0 +1,3 @@
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