xinjjj commited on
Commit
5bc3a3a
·
verified ·
1 Parent(s): aeb2580

Add asset food/snack/4bdc2ce1e7115458b3a247fac539e253

Browse files
.gitattributes CHANGED
@@ -6869,3 +6869,4 @@ dataset/food/snack/3d9da38f77b356a781101e05d7cfe673/affordance/mesh_part_seg.glb
6869
  dataset/food/snack/462e0096afa956a08308187afd89d50c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6870
  dataset/food/snack/47c57c46000757e59463da94f27c64f7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6871
  dataset/food/snack/4b38591903d35cfc98afc374dc63daa5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6869
  dataset/food/snack/462e0096afa956a08308187afd89d50c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6870
  dataset/food/snack/47c57c46000757e59463da94f27c64f7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6871
  dataset/food/snack/4b38591903d35cfc98afc374dc63daa5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6872
+ dataset/food/snack/4bdc2ce1e7115458b3a247fac539e253/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/food/snack/4bdc2ce1e7115458b3a247fac539e253/affordance/affordance_annot.json ADDED
@@ -0,0 +1,388 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
+ "grasp_group": {
31
+ "grasp_0": {
32
+ "confidence": 0.982772171497345,
33
+ "position": [
34
+ 0.00203172583860578,
35
+ -0.13621036428958178,
36
+ -0.0035260927652416285
37
+ ],
38
+ "orientation": {
39
+ "w": 0.5323166321726327,
40
+ "xyz": [
41
+ -0.44901054501201154,
42
+ -0.5365367243114239,
43
+ -0.47660977439155655
44
+ ]
45
+ }
46
+ },
47
+ "grasp_1": {
48
+ "confidence": 0.981864333152771,
49
+ "position": [
50
+ -0.013164317577320617,
51
+ -0.13063145894557238,
52
+ -0.0025217505426553544
53
+ ],
54
+ "orientation": {
55
+ "w": 0.566000192991918,
56
+ "xyz": [
57
+ -0.43615842300449753,
58
+ -0.5297495429801796,
59
+ -0.45691906645229097
60
+ ]
61
+ }
62
+ },
63
+ "grasp_2": {
64
+ "confidence": 0.9815034866333008,
65
+ "position": [
66
+ 0.01251235570089193,
67
+ -0.13586939591914415,
68
+ -0.0009310873247159179
69
+ ],
70
+ "orientation": {
71
+ "w": 0.4965927174733307,
72
+ "xyz": [
73
+ -0.5351038918343104,
74
+ 0.4417189553719746,
75
+ 0.5214823701347142
76
+ ]
77
+ }
78
+ },
79
+ "grasp_3": {
80
+ "confidence": 0.9814735054969788,
81
+ "position": [
82
+ -0.0003158511171932332,
83
+ -0.1289892913773656,
84
+ -0.004702258414909011
85
+ ],
86
+ "orientation": {
87
+ "w": 0.4528093260874995,
88
+ "xyz": [
89
+ -0.5443859695752526,
90
+ 0.44038205637524974,
91
+ 0.5519703567769767
92
+ ]
93
+ }
94
+ },
95
+ "grasp_4": {
96
+ "confidence": 0.9813174605369568,
97
+ "position": [
98
+ -0.015678038231271785,
99
+ -0.131246087141335,
100
+ -0.00329991665421403
101
+ ],
102
+ "orientation": {
103
+ "w": 0.5986770450144732,
104
+ "xyz": [
105
+ -0.39314166536310063,
106
+ 0.5696146766463954,
107
+ 0.40319294001419265
108
+ ]
109
+ }
110
+ },
111
+ "grasp_6": {
112
+ "confidence": 0.9808413982391357,
113
+ "position": [
114
+ 0.002972300055262167,
115
+ -0.13138119596987963,
116
+ 0.00036672328496933915
117
+ ],
118
+ "orientation": {
119
+ "w": 0.4714797058715013,
120
+ "xyz": [
121
+ -0.5325621345120919,
122
+ 0.4667857180658742,
123
+ 0.5255431031275863
124
+ ]
125
+ }
126
+ },
127
+ "grasp_8": {
128
+ "confidence": 0.9804236888885498,
129
+ "position": [
130
+ -0.011526901616889518,
131
+ -0.13498949725180864,
132
+ -0.0027717498851416167
133
+ ],
134
+ "orientation": {
135
+ "w": 0.5023704578399197,
136
+ "xyz": [
137
+ -0.48964002593968753,
138
+ -0.5031844778379128,
139
+ -0.5046602315919883
140
+ ]
141
+ }
142
+ },
143
+ "grasp_9": {
144
+ "confidence": 0.9802659153938293,
145
+ "position": [
146
+ 0.008154923685651738,
147
+ -0.1354958238080144,
148
+ -0.0019069540103373583
149
+ ],
150
+ "orientation": {
151
+ "w": 0.5021036546362724,
152
+ "xyz": [
153
+ -0.5007598918425602,
154
+ 0.4896960945135045,
155
+ 0.507276242042684
156
+ ]
157
+ }
158
+ },
159
+ "grasp_10": {
160
+ "confidence": 0.9801734685897827,
161
+ "position": [
162
+ 0.0027950209405389614,
163
+ -0.13063034135848284,
164
+ -0.003537867476552492
165
+ ],
166
+ "orientation": {
167
+ "w": 0.4019222411594517,
168
+ "xyz": [
169
+ -0.5859743782654959,
170
+ 0.39164040805317846,
171
+ 0.5845599463337092
172
+ ]
173
+ }
174
+ },
175
+ "grasp_11": {
176
+ "confidence": 0.9799140095710754,
177
+ "position": [
178
+ -0.00711476930155186,
179
+ -0.1301242234185338,
180
+ -0.0015647537329641636
181
+ ],
182
+ "orientation": {
183
+ "w": 0.49030321089109186,
184
+ "xyz": [
185
+ -0.5154514476757424,
186
+ 0.48186382051592647,
187
+ 0.5115855988558139
188
+ ]
189
+ }
190
+ },
191
+ "grasp_12": {
192
+ "confidence": 0.9799137115478516,
193
+ "position": [
194
+ -0.008651079020637553,
195
+ -0.12960354704409838,
196
+ -0.003792788160353666
197
+ ],
198
+ "orientation": {
199
+ "w": 0.6072502022349667,
200
+ "xyz": [
201
+ -0.37597303397847376,
202
+ 0.58120372775313,
203
+ 0.38999191844508685
204
+ ]
205
+ }
206
+ },
207
+ "grasp_13": {
208
+ "confidence": 0.9798414707183838,
209
+ "position": [
210
+ -0.01844364345743088,
211
+ -0.13303591031581163,
212
+ -0.0047807763585296925
213
+ ],
214
+ "orientation": {
215
+ "w": 0.5055416633396543,
216
+ "xyz": [
217
+ -0.5007715430820413,
218
+ 0.4919296866288767,
219
+ 0.5016579229716421
220
+ ]
221
+ }
222
+ },
223
+ "grasp_14": {
224
+ "confidence": 0.9798293113708496,
225
+ "position": [
226
+ -0.014655305414635222,
227
+ -0.13258509058505297,
228
+ -0.004071861996635562
229
+ ],
230
+ "orientation": {
231
+ "w": 0.5088687584174844,
232
+ "xyz": [
233
+ -0.49714658972491577,
234
+ 0.49408340979980503,
235
+ 0.49977939052359127
236
+ ]
237
+ }
238
+ },
239
+ "grasp_15": {
240
+ "confidence": 0.9795661568641663,
241
+ "position": [
242
+ -0.01164114509447245,
243
+ -0.13482315558940172,
244
+ -0.005346701971575385
245
+ ],
246
+ "orientation": {
247
+ "w": 0.5053758566339548,
248
+ "xyz": [
249
+ -0.5007374424779211,
250
+ 0.49002353259819265,
251
+ 0.5037203537004987
252
+ ]
253
+ }
254
+ },
255
+ "grasp_16": {
256
+ "confidence": 0.9794611930847168,
257
+ "position": [
258
+ -0.016744212589401286,
259
+ -0.1329584838822484,
260
+ -0.0031457909171876963
261
+ ],
262
+ "orientation": {
263
+ "w": 0.5021238073419195,
264
+ "xyz": [
265
+ -0.49893891359871895,
266
+ 0.4980324787790177,
267
+ 0.5008944925616697
268
+ ]
269
+ }
270
+ },
271
+ "grasp_17": {
272
+ "confidence": 0.9794269800186157,
273
+ "position": [
274
+ -0.017356672666210216,
275
+ -0.134022262878716,
276
+ -0.005514320477232104
277
+ ],
278
+ "orientation": {
279
+ "w": 0.5092942419480481,
280
+ "xyz": [
281
+ -0.49341849786599357,
282
+ 0.49452070190590247,
283
+ 0.5026000760731374
284
+ ]
285
+ }
286
+ }
287
+ }
288
+ },
289
+ {
290
+ "part_name": "sealed edge seam",
291
+ "mask_color": "Magenta",
292
+ "graspable": true,
293
+ "grasp_scenarios": [
294
+ {
295
+ "scenario": "pinch a sealed edge seam to help start tearing open the snack package",
296
+ "confidence": 0.74
297
+ },
298
+ {
299
+ "scenario": "grasp a seam to pull and reposition the lightweight packet",
300
+ "confidence": 0.58
301
+ }
302
+ ],
303
+ "functional_labels": [
304
+ "seal the package",
305
+ "join wrapper layers",
306
+ "retain contents",
307
+ "provide an edge that can be torn open"
308
+ ],
309
+ "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
+ "id": 7,
311
+ "grasp_group": {
312
+ "grasp_38": {
313
+ "confidence": 0.9587901830673218,
314
+ "position": [
315
+ -0.15466482692136196,
316
+ 0.054857916198670864,
317
+ 0.002138529878720874
318
+ ],
319
+ "orientation": {
320
+ "w": 0.6807612070362352,
321
+ "xyz": [
322
+ 0.1873309772901975,
323
+ 0.6909705412146597,
324
+ -0.15501933787623862
325
+ ]
326
+ }
327
+ }
328
+ }
329
+ },
330
+ {
331
+ "part_name": "printed product logo characters",
332
+ "mask_color": "Red",
333
+ "graspable": false,
334
+ "grasp_scenarios": [],
335
+ "functional_labels": [
336
+ "identify the product",
337
+ "provide branding"
338
+ ],
339
+ "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
+ "id": 0,
341
+ "grasp_group": {}
342
+ },
343
+ {
344
+ "part_name": "printed secondary text",
345
+ "mask_color": "Blue",
346
+ "graspable": false,
347
+ "grasp_scenarios": [],
348
+ "functional_labels": [
349
+ "communicate product information",
350
+ "provide branding details"
351
+ ],
352
+ "semantic_description": "Printed Chinese characters grouped on the front panel, appearing as flat smooth labeling on the glossy front face.",
353
+ "id": 2,
354
+ "grasp_group": {}
355
+ },
356
+ {
357
+ "part_name": "printed decorative accent",
358
+ "mask_color": "Green",
359
+ "graspable": false,
360
+ "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
+ "mask_color": "Orange",
372
+ "graspable": false,
373
+ "grasp_scenarios": [],
374
+ "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
+ "grasp_group": {}
382
+ }
383
+ ],
384
+ "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
+ version https://git-lfs.github.com/spec/v1
2
+ 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>