Add asset food/snack/243e470509c750148214e308eb5d2877
Browse files
.gitattributes
CHANGED
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@@ -6860,3 +6860,4 @@ dataset/food/snack/1dda1b316dca5834b8cf91a767cb4347/affordance/mesh_part_seg.glb
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| 6860 |
dataset/food/snack/21465c41fd6f545aaaf0818652a5ef39/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6861 |
dataset/food/snack/21ae1735882f5d59a68fcee8a12606a2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6862 |
dataset/food/snack/227cc3acd3ef549093fac05e82e7df45/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6860 |
dataset/food/snack/21465c41fd6f545aaaf0818652a5ef39/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6861 |
dataset/food/snack/21ae1735882f5d59a68fcee8a12606a2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6862 |
dataset/food/snack/227cc3acd3ef549093fac05e82e7df45/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6863 |
+
dataset/food/snack/243e470509c750148214e308eb5d2877/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/snack/243e470509c750148214e308eb5d2877/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,436 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "main green carton section",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the long side faces of the gum carton to pick it up",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the main carton body to stabilize it while opening an end flap",
|
| 14 |
+
"confidence": 0.88
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "reorient the pack by pinching the broad body surfaces",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main structural enclosure",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"support printed branding",
|
| 25 |
+
"contain gum pieces"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Main rectangular paperboard carton section covering most of the pack, predominantly green in the RGB views with white printed branding on top. It has a smooth coated paperboard finish, sharp folded edges, and a compact box-like form.",
|
| 28 |
+
"id": 3,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_24": {
|
| 31 |
+
"confidence": 0.9027128219604492,
|
| 32 |
+
"position": [
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| 33 |
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|
| 34 |
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-0.09854551812895807,
|
| 35 |
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-0.009965774093871005
|
| 36 |
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],
|
| 37 |
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"orientation": {
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| 38 |
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"w": 0.5539318500163429,
|
| 39 |
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"xyz": [
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| 40 |
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| 41 |
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|
| 42 |
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|
| 43 |
+
]
|
| 44 |
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}
|
| 45 |
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},
|
| 46 |
+
"grasp_25": {
|
| 47 |
+
"confidence": 0.9025493860244751,
|
| 48 |
+
"position": [
|
| 49 |
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|
| 50 |
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|
| 51 |
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| 52 |
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],
|
| 53 |
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"orientation": {
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| 54 |
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"w": 0.5037188850147819,
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| 55 |
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"xyz": [
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| 56 |
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| 57 |
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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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"grasp_27": {
|
| 63 |
+
"confidence": 0.9004300236701965,
|
| 64 |
+
"position": [
|
| 65 |
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|
| 66 |
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|
| 67 |
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-0.0036224554787622765
|
| 68 |
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],
|
| 69 |
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"orientation": {
|
| 70 |
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"w": 0.36299491545391177,
|
| 71 |
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"xyz": [
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| 72 |
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| 73 |
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|
| 74 |
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|
| 75 |
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]
|
| 76 |
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}
|
| 77 |
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},
|
| 78 |
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"grasp_30": {
|
| 79 |
+
"confidence": 0.8975168466567993,
|
| 80 |
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"position": [
|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
+
],
|
| 85 |
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"orientation": {
|
| 86 |
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"w": 0.5210847279394186,
|
| 87 |
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"xyz": [
|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_31": {
|
| 95 |
+
"confidence": 0.896946132183075,
|
| 96 |
+
"position": [
|
| 97 |
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-0.0033190279064001516,
|
| 98 |
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-0.09951192548760446,
|
| 99 |
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-0.005283744496409781
|
| 100 |
+
],
|
| 101 |
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"orientation": {
|
| 102 |
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"w": 0.5248996586363867,
|
| 103 |
+
"xyz": [
|
| 104 |
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-0.4884915572177322,
|
| 105 |
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|
| 106 |
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|
| 107 |
+
]
|
| 108 |
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}
|
| 109 |
+
},
|
| 110 |
+
"grasp_32": {
|
| 111 |
+
"confidence": 0.895977795124054,
|
| 112 |
+
"position": [
|
| 113 |
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-0.00394215302367229,
|
| 114 |
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-0.09620825609454187,
|
| 115 |
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-0.003059411610593088
|
| 116 |
+
],
|
| 117 |
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"orientation": {
|
| 118 |
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"w": 0.5014205548295553,
|
| 119 |
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"xyz": [
|
| 120 |
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-0.500945293533319,
|
| 121 |
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-0.47810989486751865,
|
| 122 |
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-0.518692749622556
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_33": {
|
| 127 |
+
"confidence": 0.895926833152771,
|
| 128 |
+
"position": [
|
| 129 |
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-0.009189059099298902,
|
| 130 |
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-0.09878281167038949,
|
| 131 |
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-0.00699688536406029
|
| 132 |
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],
|
| 133 |
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"orientation": {
|
| 134 |
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"w": 0.5149145043024715,
|
| 135 |
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"xyz": [
|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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]
|
| 140 |
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}
|
| 141 |
+
},
|
| 142 |
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"grasp_35": {
|
| 143 |
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"confidence": 0.8952330946922302,
|
| 144 |
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"position": [
|
| 145 |
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0.00036233080027159303,
|
| 146 |
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-0.09983020684012445,
|
| 147 |
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-0.0031922496418701485
|
| 148 |
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],
|
| 149 |
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"orientation": {
|
| 150 |
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"w": 0.5088198604404409,
|
| 151 |
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"xyz": [
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| 152 |
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-0.4887194170298899,
|
| 153 |
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|
| 154 |
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|
| 155 |
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]
|
| 156 |
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}
|
| 157 |
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},
|
| 158 |
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"grasp_38": {
|
| 159 |
+
"confidence": 0.8923859000205994,
|
| 160 |
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"position": [
|
| 161 |
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0.006790902858483605,
|
| 162 |
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0.09963799604884116,
|
| 163 |
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|
| 164 |
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],
|
| 165 |
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"orientation": {
|
| 166 |
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"w": 0.49581807510675324,
|
| 167 |
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"xyz": [
|
| 168 |
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0.5034360030420241,
|
| 169 |
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|
| 170 |
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|
| 171 |
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]
|
| 172 |
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}
|
| 173 |
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}
|
| 174 |
+
}
|
| 175 |
+
},
|
| 176 |
+
{
|
| 177 |
+
"part_name": "white end section of gum box",
|
| 178 |
+
"mask_color": "Green",
|
| 179 |
+
"graspable": true,
|
| 180 |
+
"grasp_scenarios": [
|
| 181 |
+
{
|
| 182 |
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"scenario": "grasp the white end section to help pick up or orient the small gum pack",
|
| 183 |
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"confidence": 0.76
|
| 184 |
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},
|
| 185 |
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{
|
| 186 |
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"scenario": "hold this end while manipulating the opposite end or rotating the pack",
|
| 187 |
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"confidence": 0.73
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| 188 |
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}
|
| 189 |
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],
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| 190 |
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"functional_labels": [
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| 191 |
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"form one end of the pack",
|
| 192 |
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"support opening and closure structure",
|
| 193 |
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"provide secondary grasp area",
|
| 194 |
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"indicate package orientation"
|
| 195 |
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],
|
| 196 |
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"semantic_description": "Smaller end portion of the carton, white in the RGB images, wrapping one capped end of the rectangular gum package. It has printed mint imagery and small text on a smooth folded paperboard surface.",
|
| 197 |
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"id": 1,
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| 198 |
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],
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]
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}
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},
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"confidence": 0.3275989592075348,
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],
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]
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}
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},
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|
| 232 |
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"confidence": 0.327350378036499,
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| 233 |
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],
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}
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},
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|
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],
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]
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}
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},
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"grasp_12": {
|
| 264 |
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],
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]
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},
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|
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],
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]
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}
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},
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"grasp_16": {
|
| 296 |
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| 297 |
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| 299 |
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| 300 |
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| 301 |
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],
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| 302 |
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"orientation": {
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| 303 |
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| 304 |
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| 305 |
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| 307 |
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]
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| 309 |
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}
|
| 310 |
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},
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| 311 |
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"grasp_17": {
|
| 312 |
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"confidence": 0.7900720834732056,
|
| 313 |
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| 314 |
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| 315 |
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| 316 |
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| 317 |
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],
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| 318 |
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"orientation": {
|
| 319 |
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|
| 320 |
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| 321 |
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| 322 |
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|
| 323 |
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| 324 |
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]
|
| 325 |
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}
|
| 326 |
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},
|
| 327 |
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"grasp_18": {
|
| 328 |
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"confidence": 0.7858299016952515,
|
| 329 |
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"position": [
|
| 330 |
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|
| 331 |
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0.08776959368697135,
|
| 332 |
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0.0030319828510982916
|
| 333 |
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],
|
| 334 |
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"orientation": {
|
| 335 |
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"w": 0.35389186038173165,
|
| 336 |
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"xyz": [
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| 337 |
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0.6244105491059555,
|
| 338 |
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|
| 339 |
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|
| 340 |
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]
|
| 341 |
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}
|
| 342 |
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},
|
| 343 |
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"grasp_19": {
|
| 344 |
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"confidence": 0.7734171748161316,
|
| 345 |
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"position": [
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| 346 |
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|
| 347 |
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|
| 348 |
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-0.006492446133051999
|
| 349 |
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],
|
| 350 |
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"orientation": {
|
| 351 |
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"w": 0.5015120455922736,
|
| 352 |
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"xyz": [
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| 353 |
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|
| 354 |
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|
| 355 |
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| 356 |
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]
|
| 357 |
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}
|
| 358 |
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}
|
| 359 |
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}
|
| 360 |
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},
|
| 361 |
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{
|
| 362 |
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"part_name": "brand logo graphic",
|
| 363 |
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"mask_color": "Brown",
|
| 364 |
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"graspable": false,
|
| 365 |
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"grasp_scenarios": [],
|
| 366 |
+
"functional_labels": [
|
| 367 |
+
"display branding",
|
| 368 |
+
"identify product",
|
| 369 |
+
"provide visual contrast"
|
| 370 |
+
],
|
| 371 |
+
"semantic_description": "Flat printed logo region on the top face, appearing as a dark green and white brand mark with small orange text on the green carton surface near the center.",
|
| 372 |
+
"id": 11,
|
| 373 |
+
"grasp_group": {}
|
| 374 |
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},
|
| 375 |
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{
|
| 376 |
+
"part_name": "mint leaf graphic",
|
| 377 |
+
"mask_color": "Cyan",
|
| 378 |
+
"graspable": false,
|
| 379 |
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"grasp_scenarios": [],
|
| 380 |
+
"functional_labels": [
|
| 381 |
+
"decorate packaging",
|
| 382 |
+
"suggest mint flavor",
|
| 383 |
+
"aid product identification"
|
| 384 |
+
],
|
| 385 |
+
"semantic_description": "Printed mint-leaf imagery on the white end panel, appearing as green leaf shapes on the package surface.",
|
| 386 |
+
"id": 6,
|
| 387 |
+
"grasp_group": {}
|
| 388 |
+
},
|
| 389 |
+
{
|
| 390 |
+
"part_name": "red accent graphic",
|
| 391 |
+
"mask_color": "Magenta",
|
| 392 |
+
"graspable": false,
|
| 393 |
+
"grasp_scenarios": [],
|
| 394 |
+
"functional_labels": [
|
| 395 |
+
"decorate packaging",
|
| 396 |
+
"highlight flavor graphic",
|
| 397 |
+
"provide visual cue"
|
| 398 |
+
],
|
| 399 |
+
"semantic_description": "Small printed red accent element adjacent to the mint leaf graphic on the white end panel.",
|
| 400 |
+
"id": 7,
|
| 401 |
+
"grasp_group": {}
|
| 402 |
+
},
|
| 403 |
+
{
|
| 404 |
+
"part_name": "side band detail",
|
| 405 |
+
"mask_color": "Pink",
|
| 406 |
+
"graspable": false,
|
| 407 |
+
"grasp_scenarios": [],
|
| 408 |
+
"functional_labels": [
|
| 409 |
+
"mark package design transition",
|
| 410 |
+
"provide packaging detail",
|
| 411 |
+
"indicate end-section boundary"
|
| 412 |
+
],
|
| 413 |
+
"semantic_description": "Narrow light-colored vertical band near the boundary between the main green section and the white end section, visible on a side face as a small contrasting strip.",
|
| 414 |
+
"id": 8,
|
| 415 |
+
"grasp_group": {}
|
| 416 |
+
},
|
| 417 |
+
{
|
| 418 |
+
"part_name": "small side marking",
|
| 419 |
+
"mask_color": "Purple",
|
| 420 |
+
"graspable": false,
|
| 421 |
+
"grasp_scenarios": [],
|
| 422 |
+
"functional_labels": [
|
| 423 |
+
"display small printed information",
|
| 424 |
+
"mark side panel",
|
| 425 |
+
"provide packaging detail"
|
| 426 |
+
],
|
| 427 |
+
"semantic_description": "Tiny small printed marking on the side panel near one end, visible as a short dark rectangular detail on the green side surface.",
|
| 428 |
+
"id": 5,
|
| 429 |
+
"grasp_group": {}
|
| 430 |
+
}
|
| 431 |
+
],
|
| 432 |
+
"quality_check": {
|
| 433 |
+
"success": false,
|
| 434 |
+
"message": "Main body and end section colors/identities are swapped; one graphic color description is wrong."
|
| 435 |
+
}
|
| 436 |
+
}
|
dataset/food/snack/243e470509c750148214e308eb5d2877/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:e1c6930eb8484a0dd97ce694149e15d31e878ad9d9b677726b78b20d7f1c2796
|
| 3 |
+
size 3790896
|
dataset/food/snack/243e470509c750148214e308eb5d2877/chewing_gum_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>
|