Add asset food/snack/194da09669c0587892933c39a86fb4d4
Browse files
.gitattributes
CHANGED
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@@ -6853,3 +6853,4 @@ dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/affordance/mesh_part_s
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| 6853 |
dataset/food/ingredients/fedd55b945335b31b0041de7bf63f397/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6854 |
dataset/food/snack/10bfe27fbe1f564d91bad844554b33c3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6855 |
dataset/food/snack/127ace8d5e6e53ae85bc191476a102a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6853 |
dataset/food/ingredients/fedd55b945335b31b0041de7bf63f397/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6854 |
dataset/food/snack/10bfe27fbe1f564d91bad844554b33c3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6855 |
dataset/food/snack/127ace8d5e6e53ae85bc191476a102a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6856 |
+
dataset/food/snack/194da09669c0587892933c39a86fb4d4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/snack/194da09669c0587892933c39a86fb4d4/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,409 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "main wrapper body",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the center of the wrapped candy to pick it up from a surface",
|
| 10 |
+
"confidence": 0.94
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize the candy during sorting or placement",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pinch the body lightly to reorient the package",
|
| 18 |
+
"confidence": 0.85
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"enclose the candy",
|
| 23 |
+
"protect the contents",
|
| 24 |
+
"provide the main grasp surface",
|
| 25 |
+
"display product branding",
|
| 26 |
+
"maintain package shape"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Main central wrapper section in pale cream or off-white material, smooth and slightly glossy, with a red oval label and printed markings, forming the largest rectangular area around the candy.",
|
| 29 |
+
"id": 3,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_62": {
|
| 32 |
+
"confidence": 0.5332291126251221,
|
| 33 |
+
"position": [
|
| 34 |
+
0.09185162375797518,
|
| 35 |
+
0.03634801103180507,
|
| 36 |
+
0.020579485902999295
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.16602442058512973,
|
| 40 |
+
"xyz": [
|
| 41 |
+
0.7729412648834304,
|
| 42 |
+
0.0745156895043394,
|
| 43 |
+
-0.6078199608662646
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_71": {
|
| 48 |
+
"confidence": 0.4950988292694092,
|
| 49 |
+
"position": [
|
| 50 |
+
0.08694838176597841,
|
| 51 |
+
-0.04890438945585629,
|
| 52 |
+
-0.0014188303794071544
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.18616383740275813,
|
| 56 |
+
"xyz": [
|
| 57 |
+
-0.6832722795799826,
|
| 58 |
+
0.16580509418120126,
|
| 59 |
+
0.6862876134279392
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_73": {
|
| 64 |
+
"confidence": 0.49014270305633545,
|
| 65 |
+
"position": [
|
| 66 |
+
0.08902146111358888,
|
| 67 |
+
-0.046277176901639905,
|
| 68 |
+
-0.008572747250582324
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.6648664326968045,
|
| 72 |
+
"xyz": [
|
| 73 |
+
-0.09172437174279406,
|
| 74 |
+
-0.6933607216690177,
|
| 75 |
+
-0.26227881338002657
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
}
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"part_name": "twisted end seal",
|
| 83 |
+
"mask_color": "Blue",
|
| 84 |
+
"graspable": true,
|
| 85 |
+
"grasp_scenarios": [
|
| 86 |
+
{
|
| 87 |
+
"scenario": "grasp one crimped end to lift or drag the wrapped candy",
|
| 88 |
+
"confidence": 0.7
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"scenario": "pinch the end seal to help start opening the wrapper",
|
| 92 |
+
"confidence": 0.65
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"scenario": "hold one end while another gripper manipulates the body",
|
| 96 |
+
"confidence": 0.56
|
| 97 |
+
}
|
| 98 |
+
],
|
| 99 |
+
"functional_labels": [
|
| 100 |
+
"seal one side of the wrapper",
|
| 101 |
+
"help retain the candy inside",
|
| 102 |
+
"provide an opening point",
|
| 103 |
+
"indicate package end"
|
| 104 |
+
],
|
| 105 |
+
"semantic_description": "One wrapper end section in light blue material, thin and flexible with a slightly glossy surface, showing a crimped or serrated outer edge and protruding from one side of the candy.",
|
| 106 |
+
"id": 2,
|
| 107 |
+
"grasp_group": {
|
| 108 |
+
"grasp_40": {
|
| 109 |
+
"confidence": 0.35281652212142944,
|
| 110 |
+
"position": [
|
| 111 |
+
-0.06940340061555617,
|
| 112 |
+
-0.07567648993426701,
|
| 113 |
+
0.025313636968348874
|
| 114 |
+
],
|
| 115 |
+
"orientation": {
|
| 116 |
+
"w": 0.2715721084584248,
|
| 117 |
+
"xyz": [
|
| 118 |
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-0.7009538260461873,
|
| 119 |
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-0.33541451429951896,
|
| 120 |
+
-0.5678110841255872
|
| 121 |
+
]
|
| 122 |
+
}
|
| 123 |
+
},
|
| 124 |
+
"grasp_42": {
|
| 125 |
+
"confidence": 0.3392716348171234,
|
| 126 |
+
"position": [
|
| 127 |
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-0.08131639470229857,
|
| 128 |
+
-0.05729976700240513,
|
| 129 |
+
0.029415559703920735
|
| 130 |
+
],
|
| 131 |
+
"orientation": {
|
| 132 |
+
"w": 0.18660682312585258,
|
| 133 |
+
"xyz": [
|
| 134 |
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-0.7415342197136199,
|
| 135 |
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-0.2863200123570686,
|
| 136 |
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-0.5773436975324472
|
| 137 |
+
]
|
| 138 |
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}
|
| 139 |
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},
|
| 140 |
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"grasp_44": {
|
| 141 |
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"confidence": 0.5721244812011719,
|
| 142 |
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"position": [
|
| 143 |
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0.07183171252836473,
|
| 144 |
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-0.0588768351226463,
|
| 145 |
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-0.007467466657544719
|
| 146 |
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],
|
| 147 |
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"orientation": {
|
| 148 |
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"w": 0.6588052029700586,
|
| 149 |
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"xyz": [
|
| 150 |
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-0.14659999952740546,
|
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|
| 152 |
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|
| 153 |
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]
|
| 154 |
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}
|
| 155 |
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},
|
| 156 |
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"grasp_47": {
|
| 157 |
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"confidence": 0.5411727428436279,
|
| 158 |
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"position": [
|
| 159 |
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0.07610493342508562,
|
| 160 |
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|
| 161 |
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|
| 162 |
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],
|
| 163 |
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"orientation": {
|
| 164 |
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"w": 0.21401398175499078,
|
| 165 |
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"xyz": [
|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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]
|
| 170 |
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}
|
| 171 |
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},
|
| 172 |
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"grasp_48": {
|
| 173 |
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"confidence": 0.5328787565231323,
|
| 174 |
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"position": [
|
| 175 |
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0.08138746212352999,
|
| 176 |
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|
| 177 |
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|
| 178 |
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],
|
| 179 |
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"orientation": {
|
| 180 |
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"w": 0.197804469211192,
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"xyz": [
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|
| 185 |
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]
|
| 186 |
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}
|
| 187 |
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},
|
| 188 |
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"grasp_53": {
|
| 189 |
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"confidence": 0.5062882304191589,
|
| 190 |
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"position": [
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|
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],
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| 197 |
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]
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}
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}
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| 204 |
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}
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| 205 |
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},
|
| 206 |
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{
|
| 207 |
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"part_name": "twisted end seal",
|
| 208 |
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"mask_color": "Red",
|
| 209 |
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"graspable": true,
|
| 210 |
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|
| 211 |
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{
|
| 212 |
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"scenario": "grasp the opposite crimped end to lift or reorient the candy",
|
| 213 |
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"confidence": 0.7
|
| 214 |
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},
|
| 215 |
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{
|
| 216 |
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"scenario": "pinch this end seal to begin opening the wrapper",
|
| 217 |
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"confidence": 0.65
|
| 218 |
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},
|
| 219 |
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{
|
| 220 |
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"scenario": "hold this end while manipulating the main body",
|
| 221 |
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"confidence": 0.56
|
| 222 |
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}
|
| 223 |
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],
|
| 224 |
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"functional_labels": [
|
| 225 |
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"seal one side of the wrapper",
|
| 226 |
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"help retain the candy inside",
|
| 227 |
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"provide an opening point",
|
| 228 |
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"indicate package end"
|
| 229 |
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],
|
| 230 |
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"semantic_description": "Opposite wrapper end section in light blue material, thin and flexible with a slightly glossy surface, with a crimped or serrated outer edge and compact protruding shape.",
|
| 231 |
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"id": 0,
|
| 232 |
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"grasp_group": {
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| 233 |
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| 234 |
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"confidence": 0.45553895831108093,
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],
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"orientation": {
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"xyz": [
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]
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}
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},
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"grasp_3": {
|
| 250 |
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"confidence": 0.45458412170410156,
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],
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| 261 |
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]
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}
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},
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| 266 |
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| 267 |
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| 271 |
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],
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|
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| 274 |
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| 277 |
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|
| 278 |
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]
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| 279 |
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}
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| 280 |
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},
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| 281 |
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"grasp_7": {
|
| 282 |
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"confidence": 0.4756181240081787,
|
| 283 |
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| 285 |
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|
| 286 |
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0.00028744958035531454
|
| 287 |
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],
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| 288 |
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"orientation": {
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| 293 |
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| 294 |
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]
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}
|
| 296 |
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},
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| 297 |
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|
| 298 |
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|
| 299 |
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"position": [
|
| 300 |
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0.07373461316456087,
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| 301 |
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| 302 |
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0.025533578107570065
|
| 303 |
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],
|
| 304 |
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"orientation": {
|
| 305 |
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"w": 0.5560158986500681,
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| 306 |
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"xyz": [
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| 307 |
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|
| 308 |
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| 309 |
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|
| 310 |
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]
|
| 311 |
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}
|
| 312 |
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},
|
| 313 |
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"grasp_18": {
|
| 314 |
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"confidence": 0.48176079988479614,
|
| 315 |
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"position": [
|
| 316 |
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0.03859904225100763,
|
| 317 |
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-0.09644284503156086,
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| 318 |
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-0.009613190097297775
|
| 319 |
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],
|
| 320 |
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"orientation": {
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| 321 |
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"w": 0.4493143504123506,
|
| 322 |
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"xyz": [
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| 323 |
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-0.5452975861592504,
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| 324 |
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| 325 |
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0.595164022207563
|
| 326 |
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]
|
| 327 |
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}
|
| 328 |
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}
|
| 329 |
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}
|
| 330 |
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},
|
| 331 |
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{
|
| 332 |
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"part_name": "corner seam flap",
|
| 333 |
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"mask_color": "Green",
|
| 334 |
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"graspable": true,
|
| 335 |
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"grasp_scenarios": [
|
| 336 |
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{
|
| 337 |
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"scenario": "pinch the small corner flap to initiate peeling or opening the wrapper",
|
| 338 |
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"confidence": 0.55
|
| 339 |
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},
|
| 340 |
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{
|
| 341 |
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"scenario": "use the flap as a light stabilizing pinch point during manipulation",
|
| 342 |
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"confidence": 0.42
|
| 343 |
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}
|
| 344 |
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],
|
| 345 |
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"functional_labels": [
|
| 346 |
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"form the seam transition between body and end seal",
|
| 347 |
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"help secure the folded wrapper",
|
| 348 |
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"provide a small opening tab area",
|
| 349 |
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"maintain wrapper closure"
|
| 350 |
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],
|
| 351 |
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"semantic_description": "Small triangular seam flaps at the junction between the main cream wrapper body and the blue end seals, made of the same pale wrapper material, thin, folded, and minimally exposed.",
|
| 352 |
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"id": 1,
|
| 353 |
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"grasp_group": {
|
| 354 |
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"grasp_20": {
|
| 355 |
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"confidence": 0.5682806968688965,
|
| 356 |
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"position": [
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| 357 |
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0.0732782278500963,
|
| 358 |
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-0.057224143609346356,
|
| 359 |
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-0.004829269153560745
|
| 360 |
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],
|
| 361 |
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"orientation": {
|
| 362 |
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"w": 0.23086420543007635,
|
| 363 |
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"xyz": [
|
| 364 |
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-0.6741820411599037,
|
| 365 |
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0.17755848365587856,
|
| 366 |
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0.6787144310462465
|
| 367 |
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]
|
| 368 |
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}
|
| 369 |
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},
|
| 370 |
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"grasp_26": {
|
| 371 |
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"confidence": 0.3430006504058838,
|
| 372 |
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"position": [
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| 373 |
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-0.08238500167499296,
|
| 374 |
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-0.052679278269351926,
|
| 375 |
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0.01839511537036742
|
| 376 |
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],
|
| 377 |
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"orientation": {
|
| 378 |
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"w": 0.16452270258988066,
|
| 379 |
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"xyz": [
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| 380 |
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-0.7098520575794316,
|
| 381 |
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|
| 382 |
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-0.6212818921052182
|
| 383 |
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]
|
| 384 |
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}
|
| 385 |
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},
|
| 386 |
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"grasp_36": {
|
| 387 |
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"confidence": 0.3074756860733032,
|
| 388 |
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"position": [
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| 389 |
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0.0011511028569657356,
|
| 390 |
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0.012637874729989562,
|
| 391 |
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0.1051698389746889
|
| 392 |
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],
|
| 393 |
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"orientation": {
|
| 394 |
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"w": 0.02666701249773312,
|
| 395 |
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"xyz": [
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| 396 |
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0.9878533686833513,
|
| 397 |
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0.15248875266503084,
|
| 398 |
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| 399 |
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]
|
| 400 |
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}
|
| 401 |
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}
|
| 402 |
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}
|
| 403 |
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}
|
| 404 |
+
],
|
| 405 |
+
"quality_check": {
|
| 406 |
+
"success": false,
|
| 407 |
+
"message": "End seal mask colors are swapped relative to the segmentation; blue and red parts are mislabeled."
|
| 408 |
+
}
|
| 409 |
+
}
|
dataset/food/snack/194da09669c0587892933c39a86fb4d4/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 |
+
oid sha256:ed77c40dc747556ab24dc29d119317c1289271da2a8338c61ea0efcbf8b90351
|
| 3 |
+
size 3783052
|
dataset/food/snack/194da09669c0587892933c39a86fb4d4/candy_010.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>
|