Add asset food/snack/f916ca229d5c556383d48159daa90fa6
Browse files
.gitattributes
CHANGED
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@@ -6899,4 +6899,4 @@ dataset/food/snack/e45ddb4b0d9b57948ffefa48132df0e9/affordance/mesh_part_seg.glb
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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 |
dataset/food/snack/f4580209e4e75ad78bada63e06fa42d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6902 |
-
dataset/food/snack/
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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 |
dataset/food/snack/f4580209e4e75ad78bada63e06fa42d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6902 |
+
dataset/food/snack/f916ca229d5c556383d48159daa90fa6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/snack/f916ca229d5c556383d48159daa90fa6/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,563 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "top panel of biscuit box",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the broad top panel area from above to pick up the box",
|
| 10 |
+
"confidence": 0.77
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the top panel area to stabilize the box during placement",
|
| 14 |
+
"confidence": 0.72
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"cover the package",
|
| 19 |
+
"provide a main grasp surface",
|
| 20 |
+
"protect contents",
|
| 21 |
+
"display branding and product image"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large flat turquoise printed paperboard panel with a mostly matte smooth surface, rectangular shape, and prominent biscuit graphics and Chinese text on the top face.",
|
| 24 |
+
"id": 3,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_60": {
|
| 27 |
+
"confidence": 0.7620680928230286,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.00020491603936534375,
|
| 30 |
+
0.172635592170991,
|
| 31 |
+
0.04053632647264749
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.7139883900822406,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.6999799528893875,
|
| 37 |
+
0.014185094531709908,
|
| 38 |
+
0.006886760767426588
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_61": {
|
| 43 |
+
"confidence": 0.7460770606994629,
|
| 44 |
+
"position": [
|
| 45 |
+
0.0010064812522614375,
|
| 46 |
+
0.1699641268933192,
|
| 47 |
+
0.03895573050249368
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.7200644552417262,
|
| 51 |
+
"xyz": [
|
| 52 |
+
0.6937803045222083,
|
| 53 |
+
0.013167801369439736,
|
| 54 |
+
0.001636570072747205
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_63": {
|
| 59 |
+
"confidence": 0.7176541686058044,
|
| 60 |
+
"position": [
|
| 61 |
+
0.02623917612072546,
|
| 62 |
+
0.12217465008143336,
|
| 63 |
+
0.11234002292621881
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.14473108997796608,
|
| 67 |
+
"xyz": [
|
| 68 |
+
0.02394183159752112,
|
| 69 |
+
-0.9342300555476916,
|
| 70 |
+
0.3251059882636786
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_64": {
|
| 75 |
+
"confidence": 0.6767503023147583,
|
| 76 |
+
"position": [
|
| 77 |
+
0.02698060574766714,
|
| 78 |
+
-0.03029280377086252,
|
| 79 |
+
0.12769915640819818
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.19971417173073755,
|
| 83 |
+
"xyz": [
|
| 84 |
+
-0.9696206082620442,
|
| 85 |
+
0.00883941270772906,
|
| 86 |
+
0.14096804753713182
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_65": {
|
| 91 |
+
"confidence": 0.6664474606513977,
|
| 92 |
+
"position": [
|
| 93 |
+
0.02916300187644083,
|
| 94 |
+
0.0652948539936915,
|
| 95 |
+
0.1298319447087124
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.13828448845486174,
|
| 99 |
+
"xyz": [
|
| 100 |
+
-0.02559467918073693,
|
| 101 |
+
-0.9714641847735632,
|
| 102 |
+
0.19099646685907049
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_66": {
|
| 107 |
+
"confidence": 0.5326235294342041,
|
| 108 |
+
"position": [
|
| 109 |
+
0.030473070990410633,
|
| 110 |
+
-0.04215665941592306,
|
| 111 |
+
0.13268547237385064
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
+
"w": 0.13069289430637507,
|
| 115 |
+
"xyz": [
|
| 116 |
+
-0.9789051928914114,
|
| 117 |
+
0.006722043263852812,
|
| 118 |
+
0.15690380760966308
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"grasp_76": {
|
| 123 |
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| 541 |
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| 557 |
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| 558 |
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| 559 |
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|
| 560 |
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|
| 561 |
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|
| 562 |
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|
| 563 |
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dataset/food/snack/f916ca229d5c556383d48159daa90fa6/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
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|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:cbbb37e659d9fb7b58be24d814af10532d73745ea049915a7aaf3406f1d54dd5
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| 3 |
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size 3779804
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