Add asset food/snack/4bdc2ce1e7115458b3a247fac539e253
Browse files
.gitattributes
CHANGED
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@@ -6869,3 +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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| 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/4bdc2ce1e7115458b3a247fac539e253/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/snack/4bdc2ce1e7115458b3a247fac539e253/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,388 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "outer wrapper body",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the packet body to pick up and move the lightweight snack package",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the packet body to stabilize it while manipulating an edge for opening",
|
| 14 |
+
"confidence": 0.82
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pinch the packet body to reorient the package for inspection or placement",
|
| 18 |
+
"confidence": 0.89
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain the snack",
|
| 23 |
+
"provide main grasp surface",
|
| 24 |
+
"protect the food inside",
|
| 25 |
+
"display product graphics",
|
| 26 |
+
"support handling and transport"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "A small pillow-shaped plastic film wrapper with pale blue and white printed panels, glossy smooth crinkly surface, Chinese text and a cheese image, forming the main body of the snack package.",
|
| 29 |
+
"id": 3,
|
| 30 |
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"grasp_group": {
|
| 31 |
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"grasp_0": {
|
| 32 |
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"confidence": 0.982772171497345,
|
| 33 |
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"position": [
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| 34 |
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| 35 |
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| 36 |
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| 37 |
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],
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| 38 |
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"orientation": {
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| 39 |
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"w": 0.5323166321726327,
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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_1": {
|
| 48 |
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"confidence": 0.981864333152771,
|
| 49 |
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"position": [
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| 50 |
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| 51 |
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| 52 |
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| 53 |
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],
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| 54 |
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"orientation": {
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| 55 |
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"w": 0.566000192991918,
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| 56 |
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"xyz": [
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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_2": {
|
| 64 |
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"confidence": 0.9815034866333008,
|
| 65 |
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"position": [
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| 66 |
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| 67 |
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| 68 |
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| 69 |
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],
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| 70 |
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"orientation": {
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| 71 |
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| 72 |
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"xyz": [
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| 75 |
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| 76 |
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]
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| 77 |
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}
|
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},
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"grasp_3": {
|
| 80 |
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"confidence": 0.9814735054969788,
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| 81 |
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"position": [
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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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"w": 0.4528093260874995,
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"xyz": [
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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_4": {
|
| 96 |
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"confidence": 0.9813174605369568,
|
| 97 |
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"position": [
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| 99 |
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| 100 |
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| 101 |
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],
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"orientation": {
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"grasp_6": {
|
| 112 |
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"confidence": 0.9808413982391357,
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"position": [
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| 123 |
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]
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"grasp_8": {
|
| 128 |
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"confidence": 0.9804236888885498,
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| 140 |
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]
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}
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| 142 |
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},
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"grasp_9": {
|
| 144 |
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"confidence": 0.9802659153938293,
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],
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},
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},
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"grasp_11": {
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"confidence": 0.9799140095710754,
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"grasp_12": {
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"confidence": 0.9799137115478516,
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"position": [
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"orientation": {
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0.38999191844508685
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]
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}
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},
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"grasp_13": {
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"confidence": 0.9798414707183838,
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-0.01844364345743088,
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-0.0047807763585296925
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],
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"orientation": {
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},
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"grasp_14": {
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| 224 |
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"confidence": 0.9798293113708496,
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| 225 |
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| 226 |
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],
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]
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}
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},
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|
| 240 |
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|
| 241 |
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| 242 |
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-0.01164114509447245,
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| 243 |
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| 244 |
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],
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| 248 |
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|
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},
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| 256 |
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| 259 |
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|
| 260 |
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|
| 261 |
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],
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| 262 |
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"orientation": {
|
| 263 |
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"w": 0.5021238073419195,
|
| 264 |
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"xyz": [
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| 265 |
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|
| 266 |
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| 267 |
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|
| 268 |
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]
|
| 269 |
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}
|
| 270 |
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},
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|
| 272 |
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|
| 273 |
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| 274 |
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| 276 |
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|
| 277 |
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],
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"orientation": {
|
| 279 |
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"w": 0.5092942419480481,
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| 280 |
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| 281 |
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| 282 |
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|
| 283 |
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]
|
| 285 |
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}
|
| 286 |
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}
|
| 287 |
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}
|
| 288 |
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},
|
| 289 |
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{
|
| 290 |
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"part_name": "sealed edge seam",
|
| 291 |
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"mask_color": "Magenta",
|
| 292 |
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"graspable": true,
|
| 293 |
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"grasp_scenarios": [
|
| 294 |
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{
|
| 295 |
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"scenario": "pinch a sealed edge seam to help start tearing open the snack package",
|
| 296 |
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"confidence": 0.74
|
| 297 |
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},
|
| 298 |
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{
|
| 299 |
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"scenario": "grasp a seam to pull and reposition the lightweight packet",
|
| 300 |
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"confidence": 0.58
|
| 301 |
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}
|
| 302 |
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],
|
| 303 |
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"functional_labels": [
|
| 304 |
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"seal the package",
|
| 305 |
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"join wrapper layers",
|
| 306 |
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"retain contents",
|
| 307 |
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"provide an edge that can be torn open"
|
| 308 |
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],
|
| 309 |
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"semantic_description": "Thin narrow crimped border strips along the packet edges, made of glossy plastic film with a ribbed heat-sealed texture around the wrapper perimeter.",
|
| 310 |
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"id": 7,
|
| 311 |
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"grasp_group": {
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| 312 |
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|
| 313 |
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"confidence": 0.9587901830673218,
|
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|
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],
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"orientation": {
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|
| 321 |
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| 322 |
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0.1873309772901975,
|
| 323 |
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0.6909705412146597,
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| 324 |
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|
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]
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| 326 |
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}
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| 327 |
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}
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| 328 |
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}
|
| 329 |
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},
|
| 330 |
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{
|
| 331 |
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"part_name": "printed product logo characters",
|
| 332 |
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"mask_color": "Red",
|
| 333 |
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"graspable": false,
|
| 334 |
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"grasp_scenarios": [],
|
| 335 |
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"functional_labels": [
|
| 336 |
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"identify the product",
|
| 337 |
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"provide branding"
|
| 338 |
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],
|
| 339 |
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"semantic_description": "Large bold printed Chinese characters on the front wrapper surface, flat and smooth as part of the glossy plastic graphics near the upper front area.",
|
| 340 |
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"id": 0,
|
| 341 |
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"grasp_group": {}
|
| 342 |
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},
|
| 343 |
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{
|
| 344 |
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"part_name": "printed secondary text",
|
| 345 |
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"mask_color": "Blue",
|
| 346 |
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"graspable": false,
|
| 347 |
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"grasp_scenarios": [],
|
| 348 |
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"functional_labels": [
|
| 349 |
+
"communicate product information",
|
| 350 |
+
"provide branding details"
|
| 351 |
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],
|
| 352 |
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"semantic_description": "Printed Chinese characters grouped on the front panel, appearing as flat smooth labeling on the glossy front face.",
|
| 353 |
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"id": 2,
|
| 354 |
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"grasp_group": {}
|
| 355 |
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},
|
| 356 |
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{
|
| 357 |
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"part_name": "printed decorative accent",
|
| 358 |
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"mask_color": "Green",
|
| 359 |
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"graspable": false,
|
| 360 |
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"grasp_scenarios": [],
|
| 361 |
+
"functional_labels": [
|
| 362 |
+
"decorate packaging",
|
| 363 |
+
"aid visual recognition"
|
| 364 |
+
],
|
| 365 |
+
"semantic_description": "Small printed decorative accent shapes on the front wrapper near the text, appearing as flat smooth graphic details within the package artwork.",
|
| 366 |
+
"id": 1,
|
| 367 |
+
"grasp_group": {}
|
| 368 |
+
},
|
| 369 |
+
{
|
| 370 |
+
"part_name": "printed cheese-stick image",
|
| 371 |
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"mask_color": "Orange",
|
| 372 |
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"graspable": false,
|
| 373 |
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"grasp_scenarios": [],
|
| 374 |
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"functional_labels": [
|
| 375 |
+
"show snack appearance",
|
| 376 |
+
"advertise contents",
|
| 377 |
+
"indicate flavor visually"
|
| 378 |
+
],
|
| 379 |
+
"semantic_description": "A printed pale yellow cheese-stick illustration with small round holes on the front of the wrapper, smooth and glossy as part of the package graphics, positioned on the front panel.",
|
| 380 |
+
"id": 4,
|
| 381 |
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"grasp_group": {}
|
| 382 |
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}
|
| 383 |
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],
|
| 384 |
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"quality_check": {
|
| 385 |
+
"success": false,
|
| 386 |
+
"message": "Several mask-color/part assignments are wrong; red and blue labels map to logo/text differently and green is not a real decorative accent part."
|
| 387 |
+
}
|
| 388 |
+
}
|
dataset/food/snack/4bdc2ce1e7115458b3a247fac539e253/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:43ae67b7e38fbf4de6154ea5a62f5bf96c6cb3ad6cfa2ae46c975d2ddbfc0edb
|
| 3 |
+
size 3784972
|
dataset/food/snack/4bdc2ce1e7115458b3a247fac539e253/cheese_sticks_003.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>
|