xinjjj commited on
Commit
6932cf2
·
verified ·
1 Parent(s): 5a68148

Add asset food/snack/9e818f1a4b495fc5bf276fe561e53cfa

Browse files
.gitattributes CHANGED
@@ -6880,3 +6880,4 @@ dataset/food/snack/80f6b2cb35fc5f478d6d8a5961a1d403/affordance/mesh_part_seg.glb
6880
  dataset/food/snack/83d75a5a00db543ba91c638eaaff5cc9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6881
  dataset/food/snack/849fb9200f9c595ba3c7165cf9cb36e9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6882
  dataset/food/snack/8dd5b13c60825d9f8e872cd61d46e80a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6880
  dataset/food/snack/83d75a5a00db543ba91c638eaaff5cc9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6881
  dataset/food/snack/849fb9200f9c595ba3c7165cf9cb36e9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6882
  dataset/food/snack/8dd5b13c60825d9f8e872cd61d46e80a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6883
+ dataset/food/snack/9e818f1a4b495fc5bf276fe561e53cfa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/food/snack/9e818f1a4b495fc5bf276fe561e53cfa/affordance/affordance_annot.json ADDED
@@ -0,0 +1,588 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "box body",
5
+ "mask_color": "Orange",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the box body from the sides to pick up the snack package",
10
+ "confidence": 0.96
11
+ },
12
+ {
13
+ "scenario": "hold the box body to stabilize it while opening an end flap",
14
+ "confidence": 0.88
15
+ },
16
+ {
17
+ "scenario": "grasp the box body to place or reorient the package on a shelf",
18
+ "confidence": 0.91
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "contain potato chips",
23
+ "provide main grasp surface",
24
+ "protect contents",
25
+ "support stacking and placement",
26
+ "display product branding"
27
+ ],
28
+ "semantic_description": "Long rectangular paperboard carton with off-white top panels and gray side panels, a matte smooth hard surface, printed Japanese text and chip images, forming the main package volume.",
29
+ "id": 4,
30
+ "grasp_group": {
31
+ "grasp_20": {
32
+ "confidence": 0.9900320768356323,
33
+ "position": [
34
+ -0.009632966626668349,
35
+ -0.10671511954569723,
36
+ -0.0017465953715145588
37
+ ],
38
+ "orientation": {
39
+ "w": 0.4744607682013157,
40
+ "xyz": [
41
+ -0.5450855672041245,
42
+ 0.44699417187841484,
43
+ 0.5272237799742204
44
+ ]
45
+ }
46
+ },
47
+ "grasp_21": {
48
+ "confidence": 0.9882292747497559,
49
+ "position": [
50
+ -0.01757881711819209,
51
+ -0.10650475985312369,
52
+ -0.0024700863286852837
53
+ ],
54
+ "orientation": {
55
+ "w": 0.5096245414438713,
56
+ "xyz": [
57
+ -0.5039745012305924,
58
+ 0.48698735222036205,
59
+ 0.4991350995921847
60
+ ]
61
+ }
62
+ },
63
+ "grasp_22": {
64
+ "confidence": 0.988120436668396,
65
+ "position": [
66
+ -0.017000009451294318,
67
+ -0.10683809137844946,
68
+ 0.002308309165528044
69
+ ],
70
+ "orientation": {
71
+ "w": 0.4995511235448421,
72
+ "xyz": [
73
+ -0.5091222644880475,
74
+ 0.5019250527906763,
75
+ 0.48919774748942313
76
+ ]
77
+ }
78
+ },
79
+ "grasp_23": {
80
+ "confidence": 0.9880805015563965,
81
+ "position": [
82
+ -0.01694293986656703,
83
+ -0.10986886090540793,
84
+ -0.0010512149892747402
85
+ ],
86
+ "orientation": {
87
+ "w": 0.5049458612617074,
88
+ "xyz": [
89
+ -0.5088100716207228,
90
+ 0.4856881545921916,
91
+ 0.5002489427283372
92
+ ]
93
+ }
94
+ },
95
+ "grasp_24": {
96
+ "confidence": 0.9878336191177368,
97
+ "position": [
98
+ -0.02996953498222865,
99
+ -0.10705593890452292,
100
+ -0.00018409756012260914
101
+ ],
102
+ "orientation": {
103
+ "w": 0.5057714012812624,
104
+ "xyz": [
105
+ -0.5072583752028932,
106
+ 0.49317783709877083,
107
+ 0.49361913600172297
108
+ ]
109
+ }
110
+ },
111
+ "grasp_25": {
112
+ "confidence": 0.9875528812408447,
113
+ "position": [
114
+ -0.01872790526249446,
115
+ 0.10601396196580026,
116
+ 5.243159830570221e-05
117
+ ],
118
+ "orientation": {
119
+ "w": 0.4983952764484375,
120
+ "xyz": [
121
+ 0.4970697758555066,
122
+ -0.4965307256398278,
123
+ 0.5079183249700964
124
+ ]
125
+ }
126
+ },
127
+ "grasp_26": {
128
+ "confidence": 0.9874216318130493,
129
+ "position": [
130
+ -0.009558798890793696,
131
+ 0.10624668830132578,
132
+ -0.0015635392628610134
133
+ ],
134
+ "orientation": {
135
+ "w": 0.5138365795020524,
136
+ "xyz": [
137
+ 0.4842619918116419,
138
+ -0.5010883478354613,
139
+ 0.5003726216688722
140
+ ]
141
+ }
142
+ },
143
+ "grasp_27": {
144
+ "confidence": 0.9871628880500793,
145
+ "position": [
146
+ -0.018944353942060843,
147
+ 0.10584927433228586,
148
+ 0.0008055444341152906
149
+ ],
150
+ "orientation": {
151
+ "w": 0.5035818608784816,
152
+ "xyz": [
153
+ 0.4866312036655509,
154
+ -0.4999506052697399,
155
+ 0.5095535038674579
156
+ ]
157
+ }
158
+ },
159
+ "grasp_28": {
160
+ "confidence": 0.9871518611907959,
161
+ "position": [
162
+ 0.005378199595725164,
163
+ 0.10645131849742029,
164
+ 0.0037774170050397515
165
+ ],
166
+ "orientation": {
167
+ "w": 0.45083221505561055,
168
+ "xyz": [
169
+ 0.5475057623407339,
170
+ 0.4644550283765746,
171
+ -0.5303482635848438
172
+ ]
173
+ }
174
+ },
175
+ "grasp_29": {
176
+ "confidence": 0.9869806170463562,
177
+ "position": [
178
+ -0.028559084195876494,
179
+ -0.104723311131238,
180
+ -0.0011977746617048979
181
+ ],
182
+ "orientation": {
183
+ "w": 0.45780939571252227,
184
+ "xyz": [
185
+ -0.5505037534727729,
186
+ 0.44253697293902394,
187
+ 0.5399233299198039
188
+ ]
189
+ }
190
+ },
191
+ "grasp_30": {
192
+ "confidence": 0.9869711399078369,
193
+ "position": [
194
+ -0.023369780887151137,
195
+ -0.10942317462468054,
196
+ -0.0008590966463088989
197
+ ],
198
+ "orientation": {
199
+ "w": 0.50758438344422,
200
+ "xyz": [
201
+ -0.5016566023463355,
202
+ 0.4953347093563323,
203
+ 0.4953203738114959
204
+ ]
205
+ }
206
+ },
207
+ "grasp_31": {
208
+ "confidence": 0.9868506193161011,
209
+ "position": [
210
+ 0.001875066285720095,
211
+ 0.10599242978787515,
212
+ 0.004302407498471439
213
+ ],
214
+ "orientation": {
215
+ "w": 0.49491714259051,
216
+ "xyz": [
217
+ 0.4952468152144708,
218
+ -0.5091339536039602,
219
+ 0.5005699064841683
220
+ ]
221
+ }
222
+ },
223
+ "grasp_32": {
224
+ "confidence": 0.9868350625038147,
225
+ "position": [
226
+ -0.015382229496026412,
227
+ -0.10694197482371237,
228
+ 0.005081918323412538
229
+ ],
230
+ "orientation": {
231
+ "w": 0.5173954584902611,
232
+ "xyz": [
233
+ -0.48912276893489814,
234
+ 0.5233672678153155,
235
+ 0.4681319893178025
236
+ ]
237
+ }
238
+ },
239
+ "grasp_33": {
240
+ "confidence": 0.9868116974830627,
241
+ "position": [
242
+ -0.0012998062011320144,
243
+ 0.10579093628621195,
244
+ 0.005378986010327935
245
+ ],
246
+ "orientation": {
247
+ "w": 0.49046463406669016,
248
+ "xyz": [
249
+ 0.5046039763529041,
250
+ -0.5064578402984173,
251
+ 0.4983168929295185
252
+ ]
253
+ }
254
+ },
255
+ "grasp_34": {
256
+ "confidence": 0.9867522716522217,
257
+ "position": [
258
+ -0.008884929266059771,
259
+ -0.11011786675953772,
260
+ -0.0010245123412460089
261
+ ],
262
+ "orientation": {
263
+ "w": 0.47230947530716716,
264
+ "xyz": [
265
+ -0.5493490545568884,
266
+ 0.44395514524281743,
267
+ 0.5272980227584299
268
+ ]
269
+ }
270
+ },
271
+ "grasp_35": {
272
+ "confidence": 0.9866365790367126,
273
+ "position": [
274
+ -0.027477714378619567,
275
+ -0.10933944499993231,
276
+ 0.0020039635128341615
277
+ ],
278
+ "orientation": {
279
+ "w": 0.49458595335850336,
280
+ "xyz": [
281
+ -0.5141100908855741,
282
+ 0.49510213965020766,
283
+ 0.4959328790308959
284
+ ]
285
+ }
286
+ },
287
+ "grasp_36": {
288
+ "confidence": 0.9864598512649536,
289
+ "position": [
290
+ -0.02087588343420066,
291
+ -0.10706625050806906,
292
+ -0.004684569779783487
293
+ ],
294
+ "orientation": {
295
+ "w": 0.5307125372070879,
296
+ "xyz": [
297
+ -0.4635357872616046,
298
+ -0.5111360860246433,
299
+ -0.49215716833384476
300
+ ]
301
+ }
302
+ },
303
+ "grasp_37": {
304
+ "confidence": 0.9864357113838196,
305
+ "position": [
306
+ -0.017953804839635268,
307
+ 0.10630519026017282,
308
+ 0.002876581027521752
309
+ ],
310
+ "orientation": {
311
+ "w": 0.5114417132336403,
312
+ "xyz": [
313
+ 0.5045546130221811,
314
+ 0.5028734151923617,
315
+ -0.48059374188127707
316
+ ]
317
+ }
318
+ },
319
+ "grasp_38": {
320
+ "confidence": 0.9864085912704468,
321
+ "position": [
322
+ -0.03755027722218074,
323
+ -0.10508293575549033,
324
+ -0.0006217260379344225
325
+ ],
326
+ "orientation": {
327
+ "w": 0.49634988476096753,
328
+ "xyz": [
329
+ -0.5007078462440904,
330
+ -0.4908395015000522,
331
+ -0.5118642675305228
332
+ ]
333
+ }
334
+ },
335
+ "grasp_39": {
336
+ "confidence": 0.9862614274024963,
337
+ "position": [
338
+ 0.016563123877858743,
339
+ 0.10585551046824548,
340
+ -0.001706516370177269
341
+ ],
342
+ "orientation": {
343
+ "w": 0.48101468656067636,
344
+ "xyz": [
345
+ 0.5401210377045566,
346
+ 0.45310675175836357,
347
+ -0.521141446684939
348
+ ]
349
+ }
350
+ }
351
+ }
352
+ },
353
+ {
354
+ "part_name": "end flap",
355
+ "mask_color": "Green",
356
+ "graspable": true,
357
+ "grasp_scenarios": [
358
+ {
359
+ "scenario": "pinch the end flap to open the package",
360
+ "confidence": 0.81
361
+ },
362
+ {
363
+ "scenario": "grasp the flap lightly to pull and inspect the box end",
364
+ "confidence": 0.63
365
+ }
366
+ ],
367
+ "functional_labels": [
368
+ "close the package end",
369
+ "enable opening",
370
+ "retain contents",
371
+ "provide access point"
372
+ ],
373
+ "semantic_description": "Small folded paperboard flap at each box end, beige to off-white with a matte smooth surface and sharp creases, positioned as the closing tab of the carton.",
374
+ "id": 1,
375
+ "grasp_group": {
376
+ "grasp_0": {
377
+ "confidence": 0.9445861577987671,
378
+ "position": [
379
+ -0.1456920645723585,
380
+ 0.09386701964831445,
381
+ 0.0023934719210956246
382
+ ],
383
+ "orientation": {
384
+ "w": 0.6126521792776743,
385
+ "xyz": [
386
+ 0.35552280182040563,
387
+ 0.6148557514681809,
388
+ -0.3467178240278153
389
+ ]
390
+ }
391
+ },
392
+ "grasp_2": {
393
+ "confidence": 0.9255371689796448,
394
+ "position": [
395
+ -0.18179909806349315,
396
+ 0.04436281033849809,
397
+ 0.0034768522600643337
398
+ ],
399
+ "orientation": {
400
+ "w": 0.18317185876187517,
401
+ "xyz": [
402
+ 0.6795606365771948,
403
+ -0.16674690641040546,
404
+ 0.690536661282424
405
+ ]
406
+ }
407
+ },
408
+ "grasp_3": {
409
+ "confidence": 0.9149976372718811,
410
+ "position": [
411
+ -0.14813820939161815,
412
+ -0.09904285437369253,
413
+ -0.0018203980289399624
414
+ ],
415
+ "orientation": {
416
+ "w": 0.6262125858707258,
417
+ "xyz": [
418
+ -0.3407325656578694,
419
+ 0.6180536715016982,
420
+ 0.33131371106637786
421
+ ]
422
+ }
423
+ },
424
+ "grasp_4": {
425
+ "confidence": 0.8923372030258179,
426
+ "position": [
427
+ -0.18384647290804423,
428
+ 0.06418349676823709,
429
+ -0.00010489020496606827
430
+ ],
431
+ "orientation": {
432
+ "w": 0.6850008566961053,
433
+ "xyz": [
434
+ 0.17846538737229084,
435
+ 0.6873393450887396,
436
+ -0.16275305382278513
437
+ ]
438
+ }
439
+ },
440
+ "grasp_5": {
441
+ "confidence": 0.8795677423477173,
442
+ "position": [
443
+ -0.18375171642401256,
444
+ -0.06694750404858496,
445
+ -0.0018640421330928802
446
+ ],
447
+ "orientation": {
448
+ "w": 0.17769639541378998,
449
+ "xyz": [
450
+ -0.6689855264462058,
451
+ -0.18099272257851384,
452
+ -0.6986587084092317
453
+ ]
454
+ }
455
+ },
456
+ "grasp_7": {
457
+ "confidence": 0.9451777935028076,
458
+ "position": [
459
+ -0.14322464089491405,
460
+ 0.09417708301043604,
461
+ -0.0024505448527634144
462
+ ],
463
+ "orientation": {
464
+ "w": 0.3598394557691682,
465
+ "xyz": [
466
+ 0.6034772009932474,
467
+ -0.3353289699110569,
468
+ 0.6276028329218201
469
+ ]
470
+ }
471
+ },
472
+ "grasp_8": {
473
+ "confidence": 0.9392420053482056,
474
+ "position": [
475
+ -0.14440461914637126,
476
+ 0.09323288583254907,
477
+ -0.00810961052775383
478
+ ],
479
+ "orientation": {
480
+ "w": 0.3603211358715444,
481
+ "xyz": [
482
+ 0.5932653764758058,
483
+ -0.32863262129923154,
484
+ 0.6404728505856089
485
+ ]
486
+ }
487
+ },
488
+ "grasp_10": {
489
+ "confidence": 0.9298012256622314,
490
+ "position": [
491
+ -0.18217371325590648,
492
+ 0.05988090568280313,
493
+ -0.0043085855431854725
494
+ ],
495
+ "orientation": {
496
+ "w": 0.1889301857233717,
497
+ "xyz": [
498
+ 0.6675378507561662,
499
+ -0.16243357659678637,
500
+ 0.7016508646929372
501
+ ]
502
+ }
503
+ },
504
+ "grasp_14": {
505
+ "confidence": 0.934360146522522,
506
+ "position": [
507
+ -0.17899468462564982,
508
+ -0.0597893475642195,
509
+ -0.009048174135386944
510
+ ],
511
+ "orientation": {
512
+ "w": 0.7158199978990987,
513
+ "xyz": [
514
+ -0.22862437189864437,
515
+ 0.6450729382549945,
516
+ 0.1386128836463371
517
+ ]
518
+ }
519
+ },
520
+ "grasp_16": {
521
+ "confidence": 0.8506568670272827,
522
+ "position": [
523
+ -0.18221212844946422,
524
+ 0.03297254153585527,
525
+ -0.007759915664792061
526
+ ],
527
+ "orientation": {
528
+ "w": 0.7232728376703943,
529
+ "xyz": [
530
+ 0.17651552368071474,
531
+ 0.6521205905538243,
532
+ -0.14302939405475304
533
+ ]
534
+ }
535
+ },
536
+ "grasp_19": {
537
+ "confidence": 0.954186201095581,
538
+ "position": [
539
+ -0.17787367026903667,
540
+ 0.05312083371973131,
541
+ -0.006826270371675491
542
+ ],
543
+ "orientation": {
544
+ "w": 0.7049501821485336,
545
+ "xyz": [
546
+ 0.19204708046742866,
547
+ 0.6614949063655894,
548
+ -0.1690788231123763
549
+ ]
550
+ }
551
+ }
552
+ }
553
+ },
554
+ {
555
+ "part_name": "chip illustration",
556
+ "mask_color": "Red",
557
+ "graspable": false,
558
+ "grasp_scenarios": [],
559
+ "functional_labels": [
560
+ "show product contents",
561
+ "communicate flavor or type",
562
+ "aid visual identification",
563
+ "provide package decoration"
564
+ ],
565
+ "semantic_description": "Printed yellow potato chip image on the front panel, appearing as a small ridged oval graphic with a matte ink finish rather than a physical protruding part.",
566
+ "id": 0,
567
+ "grasp_group": {}
568
+ },
569
+ {
570
+ "part_name": "inner end fold",
571
+ "mask_color": "Magenta",
572
+ "graspable": false,
573
+ "grasp_scenarios": [],
574
+ "functional_labels": [
575
+ "reinforce end closure",
576
+ "support folded flap structure",
577
+ "help retain box shape"
578
+ ],
579
+ "semantic_description": "Tiny triangular inner paperboard fold visible inside one opened end, matching the carton material with a matte smooth creased surface and tucked near the corner.",
580
+ "id": 7,
581
+ "grasp_group": {}
582
+ }
583
+ ],
584
+ "quality_check": {
585
+ "success": true,
586
+ "message": "YES"
587
+ }
588
+ }
dataset/food/snack/9e818f1a4b495fc5bf276fe561e53cfa/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e94037a76bdd0ba570030c2af13087f7733348d8be687567b91120c56c331c9e
3
+ size 3784680
dataset/food/snack/9e818f1a4b495fc5bf276fe561e53cfa/potato_chips_007.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>