Add asset food/snack/a0d8ca01396056c3a5af46497e3e56f7
Browse files
.gitattributes
CHANGED
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@@ -6881,3 +6881,4 @@ dataset/food/snack/83d75a5a00db543ba91c638eaaff5cc9/affordance/mesh_part_seg.glb
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| 6881 |
dataset/food/snack/849fb9200f9c595ba3c7165cf9cb36e9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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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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| 6881 |
dataset/food/snack/849fb9200f9c595ba3c7165cf9cb36e9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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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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dataset/food/snack/a0d8ca01396056c3a5af46497e3e56f7/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,620 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "gum pack body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the carton body from the sides to pick up the gum pack",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the main body to stabilize it while opening an end flap",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "reorient the pack by pinching opposite broad faces",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain the chewing gum",
|
| 23 |
+
"provide the main grasp surface",
|
| 24 |
+
"protect the contents",
|
| 25 |
+
"present printed branding",
|
| 26 |
+
"support opening and dispensing"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Rectangular pink paperboard carton with a glossy smooth surface, crisp edges, darker magenta printed panels, and prominent white lettering on the broad outer faces.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_2": {
|
| 32 |
+
"confidence": 0.9835761189460754,
|
| 33 |
+
"position": [
|
| 34 |
+
-0.0025037771392817376,
|
| 35 |
+
0.009627925173845142,
|
| 36 |
+
0.09775674292177428
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.04239380585408804,
|
| 40 |
+
"xyz": [
|
| 41 |
+
0.9990955854846926,
|
| 42 |
+
0.0006598876238199103,
|
| 43 |
+
0.003215717420609104
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_3": {
|
| 48 |
+
"confidence": 0.9830927848815918,
|
| 49 |
+
"position": [
|
| 50 |
+
-0.0015713502489234088,
|
| 51 |
+
-0.022090615762863308,
|
| 52 |
+
0.0970664019259857
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.06733844907007212,
|
| 56 |
+
"xyz": [
|
| 57 |
+
-0.9977030886978435,
|
| 58 |
+
0.0031183000455102805,
|
| 59 |
+
-0.006660051384656948
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_4": {
|
| 64 |
+
"confidence": 0.9828575849533081,
|
| 65 |
+
"position": [
|
| 66 |
+
0.0015063409391586902,
|
| 67 |
+
-0.013435195258352906,
|
| 68 |
+
0.09920234927267302
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.027158213705991353,
|
| 72 |
+
"xyz": [
|
| 73 |
+
-0.9995173410738165,
|
| 74 |
+
0.013140576793944075,
|
| 75 |
+
0.007405508932560063
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_5": {
|
| 80 |
+
"confidence": 0.9828190207481384,
|
| 81 |
+
"position": [
|
| 82 |
+
-0.0005511686158570228,
|
| 83 |
+
-0.008199830597732216,
|
| 84 |
+
0.09994824924797285
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.007970085478163845,
|
| 88 |
+
"xyz": [
|
| 89 |
+
-0.9998581801528822,
|
| 90 |
+
0.014731277344923115,
|
| 91 |
+
-0.001756925332590415
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_6": {
|
| 96 |
+
"confidence": 0.9826990365982056,
|
| 97 |
+
"position": [
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| 508 |
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0.00369978736853227,
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| 509 |
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-0.05288641205697786
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| 510 |
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],
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"orientation": {
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"w": 0.6214232601108269,
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| 513 |
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"xyz": [
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| 514 |
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-0.3385342439208461,
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-0.3711354428978222,
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| 516 |
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0.6012372081892552
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| 517 |
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]
|
| 518 |
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}
|
| 519 |
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},
|
| 520 |
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"grasp_35": {
|
| 521 |
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"confidence": 0.7089601755142212,
|
| 522 |
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"position": [
|
| 523 |
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|
| 524 |
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-4.1824052459560335e-05,
|
| 525 |
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-0.007984526033396833
|
| 526 |
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],
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| 527 |
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"orientation": {
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| 528 |
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"w": 0.5003740823272111,
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| 534 |
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| 535 |
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},
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| 536 |
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"grasp_36": {
|
| 537 |
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"confidence": 0.6703525185585022,
|
| 538 |
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| 539 |
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|
| 540 |
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"orientation": {
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| 550 |
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| 551 |
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},
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| 552 |
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"grasp_37": {
|
| 553 |
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"confidence": 0.6684905886650085,
|
| 554 |
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| 555 |
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| 556 |
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|
| 557 |
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-0.05413834429054987
|
| 558 |
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],
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"orientation": {
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| 561 |
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|
| 563 |
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| 564 |
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|
| 565 |
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]
|
| 566 |
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}
|
| 567 |
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},
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| 568 |
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"grasp_38": {
|
| 569 |
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"confidence": 0.6667976379394531,
|
| 570 |
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"position": [
|
| 571 |
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0.08649361321477045,
|
| 572 |
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-0.0038600701955147088,
|
| 573 |
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-0.0444140625622822
|
| 574 |
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],
|
| 575 |
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"orientation": {
|
| 576 |
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"w": 0.593029870163973,
|
| 577 |
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"xyz": [
|
| 578 |
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0.35323675798913784,
|
| 579 |
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-0.35703330131504607,
|
| 580 |
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-0.6293382140397192
|
| 581 |
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]
|
| 582 |
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}
|
| 583 |
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}
|
| 584 |
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}
|
| 585 |
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},
|
| 586 |
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{
|
| 587 |
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"part_name": "side edge strip",
|
| 588 |
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"mask_color": "Blue",
|
| 589 |
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"graspable": false,
|
| 590 |
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"grasp_scenarios": [],
|
| 591 |
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"functional_labels": [
|
| 592 |
+
"form a narrow side boundary",
|
| 593 |
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"cover or define the side edge transition",
|
| 594 |
+
"support the carton structure"
|
| 595 |
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],
|
| 596 |
+
"semantic_description": "Very narrow vertical pink strip along one side edge near an end of the carton, smooth glossy paperboard, thin and recessed relative to the larger faces.",
|
| 597 |
+
"id": 2,
|
| 598 |
+
"grasp_group": {}
|
| 599 |
+
},
|
| 600 |
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{
|
| 601 |
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"part_name": "edge seam",
|
| 602 |
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"mask_color": "Yellow",
|
| 603 |
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"graspable": false,
|
| 604 |
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"grasp_scenarios": [],
|
| 605 |
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"functional_labels": [
|
| 606 |
+
"join folded carton panels",
|
| 607 |
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"define fold lines",
|
| 608 |
+
"reinforce carton edges",
|
| 609 |
+
"indicate panel boundaries"
|
| 610 |
+
],
|
| 611 |
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"semantic_description": "Thin fold and seam lines along the carton edges and corners, visible as narrow pink paperboard creases with minimal exposed surface area.",
|
| 612 |
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"id": 3,
|
| 613 |
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"grasp_group": {}
|
| 614 |
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}
|
| 615 |
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],
|
| 616 |
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"quality_check": {
|
| 617 |
+
"success": false,
|
| 618 |
+
"message": "Blue part is a full narrow side panel, not a tiny edge strip; yellow marks edges/corners, not a seam-only part."
|
| 619 |
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}
|
| 620 |
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}
|
dataset/food/snack/a0d8ca01396056c3a5af46497e3e56f7/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7c7bf9943e118a619bf8523c1477b1f77529aeaf8532425f88431eb2efd12e83
|
| 3 |
+
size 3782936
|
dataset/food/snack/a0d8ca01396056c3a5af46497e3e56f7/chewing_gum_005.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>
|