xinjjj commited on
Commit
db20845
·
verified ·
1 Parent(s): bb0fca8

Add asset food/snack/e5a80020438059e78337721402427957

Browse files
.gitattributes CHANGED
@@ -6899,3 +6899,4 @@ dataset/food/snack/e45ddb4b0d9b57948ffefa48132df0e9/affordance/mesh_part_seg.glb
6899
  dataset/food/snack/ebda13bb5d8a5f2f90312e8c2e6e2494/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6900
  dataset/food/snack/f3dcd469dc745903827e6f7ff7f91ba8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6901
  dataset/food/snack/f4580209e4e75ad78bada63e06fa42d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6899
  dataset/food/snack/ebda13bb5d8a5f2f90312e8c2e6e2494/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6900
  dataset/food/snack/f3dcd469dc745903827e6f7ff7f91ba8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6901
  dataset/food/snack/f4580209e4e75ad78bada63e06fa42d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6902
+ dataset/food/snack/e5a80020438059e78337721402427957/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/food/snack/e5a80020438059e78337721402427957/affordance/affordance_annot.json ADDED
@@ -0,0 +1,403 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "chocolate base",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the lower sides to pick up the chocolate piece",
10
+ "confidence": 0.92
11
+ },
12
+ {
13
+ "scenario": "hold the base to reposition or place the chocolate",
14
+ "confidence": 0.88
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "main grasp surface",
19
+ "support the chocolate piece",
20
+ "provide structural bulk",
21
+ "rest on a surface"
22
+ ],
23
+ "semantic_description": "Large dark brown chocolate base with a smooth slightly glossy finish, hard solid texture, and a trapezoidal block shape forming the lower and side portions of the piece.",
24
+ "id": 0,
25
+ "grasp_group": {
26
+ "grasp_4": {
27
+ "confidence": 0.8818024396896362,
28
+ "position": [
29
+ -0.1014229895954486,
30
+ -0.018411234574159607,
31
+ 0.002872117795050144
32
+ ],
33
+ "orientation": {
34
+ "w": 0.7029859851051355,
35
+ "xyz": [
36
+ -0.014821361765857586,
37
+ 0.7109441042709865,
38
+ 0.012227533827073011
39
+ ]
40
+ }
41
+ },
42
+ "grasp_6": {
43
+ "confidence": 0.7644060254096985,
44
+ "position": [
45
+ 0.10527410186477937,
46
+ -0.0034832694509532303,
47
+ -0.0008545843884348869
48
+ ],
49
+ "orientation": {
50
+ "w": 0.5690632069004996,
51
+ "xyz": [
52
+ 0.4475348601904116,
53
+ -0.5334312888608644,
54
+ -0.4374136206506426
55
+ ]
56
+ }
57
+ },
58
+ "grasp_7": {
59
+ "confidence": 0.7621545195579529,
60
+ "position": [
61
+ -0.10580258243135177,
62
+ 0.002656674856552854,
63
+ 0.0005463897250592709
64
+ ],
65
+ "orientation": {
66
+ "w": 0.5258405153183632,
67
+ "xyz": [
68
+ -0.4873947524584948,
69
+ 0.49483529403052096,
70
+ -0.4909950503898879
71
+ ]
72
+ }
73
+ },
74
+ "grasp_12": {
75
+ "confidence": 0.6656354069709778,
76
+ "position": [
77
+ 0.09074292160221376,
78
+ 0.0015044221945572644,
79
+ -0.0027936198748648167
80
+ ],
81
+ "orientation": {
82
+ "w": 0.529123694022066,
83
+ "xyz": [
84
+ -0.4648257680030083,
85
+ -0.5194794092935434,
86
+ 0.48384529050605324
87
+ ]
88
+ }
89
+ },
90
+ "grasp_15": {
91
+ "confidence": 0.3702732026576996,
92
+ "position": [
93
+ -0.09584815226844512,
94
+ 0.007936422625789419,
95
+ -0.002003183588385582
96
+ ],
97
+ "orientation": {
98
+ "w": 0.5760517630450344,
99
+ "xyz": [
100
+ -0.42821618580657483,
101
+ 0.5325995533488909,
102
+ -0.44847851707583397
103
+ ]
104
+ }
105
+ },
106
+ "grasp_18": {
107
+ "confidence": 0.8967788219451904,
108
+ "position": [
109
+ 0.10625839061685838,
110
+ -0.0004533746687229723,
111
+ 0.00834187911823392
112
+ ],
113
+ "orientation": {
114
+ "w": 0.4015021709987129,
115
+ "xyz": [
116
+ 0.5846670525201801,
117
+ -0.43315994605005437,
118
+ -0.5561770451201663
119
+ ]
120
+ }
121
+ }
122
+ }
123
+ },
124
+ {
125
+ "part_name": "sloped rim",
126
+ "mask_color": "Blue",
127
+ "graspable": true,
128
+ "grasp_scenarios": [
129
+ {
130
+ "scenario": "lightly pinch the rim to stabilize the chocolate during handling",
131
+ "confidence": 0.42
132
+ },
133
+ {
134
+ "scenario": "grasp near the rim when the lower body is obstructed",
135
+ "confidence": 0.34
136
+ }
137
+ ],
138
+ "functional_labels": [
139
+ "transition between top and base",
140
+ "define edges",
141
+ "assist alignment",
142
+ "add shape detail"
143
+ ],
144
+ "semantic_description": "Narrow dark brown chocolate band with a smooth glossy surface and hard texture, running around the upper perimeter as a sloped beveled transition below the top face.",
145
+ "id": 2,
146
+ "grasp_group": {
147
+ "grasp_41": {
148
+ "confidence": 0.6814146041870117,
149
+ "position": [
150
+ -0.07939054988673888,
151
+ 0.0063317934109363705,
152
+ 0.06161211337894201
153
+ ],
154
+ "orientation": {
155
+ "w": 0.3140564278795246,
156
+ "xyz": [
157
+ -0.6402032517929939,
158
+ 0.6038280808216602,
159
+ -0.3562302700676343
160
+ ]
161
+ }
162
+ },
163
+ "grasp_48": {
164
+ "confidence": 0.5465426445007324,
165
+ "position": [
166
+ -0.09351276032975875,
167
+ -0.002931711118435487,
168
+ 0.06835989560931921
169
+ ],
170
+ "orientation": {
171
+ "w": 0.3179816640895691,
172
+ "xyz": [
173
+ -0.6658077552435998,
174
+ 0.5922139575026734,
175
+ -0.3238368769910691
176
+ ]
177
+ }
178
+ },
179
+ "grasp_49": {
180
+ "confidence": 0.5206198692321777,
181
+ "position": [
182
+ 0.08323625303455628,
183
+ 0.016368269367376342,
184
+ 0.0745332008227706
185
+ ],
186
+ "orientation": {
187
+ "w": 0.2316853367259211,
188
+ "xyz": [
189
+ -0.6443869503245474,
190
+ -0.6435609164517178,
191
+ 0.3419308553106187
192
+ ]
193
+ }
194
+ },
195
+ "grasp_51": {
196
+ "confidence": 0.407427042722702,
197
+ "position": [
198
+ 0.08774883128353395,
199
+ -0.012664911890169606,
200
+ 0.06912224646657705
201
+ ],
202
+ "orientation": {
203
+ "w": 0.33290488090998643,
204
+ "xyz": [
205
+ -0.6418325392108034,
206
+ -0.624046792910388,
207
+ 0.2962953461240645
208
+ ]
209
+ }
210
+ },
211
+ "grasp_54": {
212
+ "confidence": 0.4870980679988861,
213
+ "position": [
214
+ 0.07972773737856187,
215
+ 0.019782626448431984,
216
+ 0.07682641502469778
217
+ ],
218
+ "orientation": {
219
+ "w": 0.3345937224891105,
220
+ "xyz": [
221
+ 0.6600187122604476,
222
+ -0.6351740145981634,
223
+ -0.22130592291258805
224
+ ]
225
+ }
226
+ },
227
+ "grasp_56": {
228
+ "confidence": 0.3915461301803589,
229
+ "position": [
230
+ 0.030648479383671656,
231
+ 0.013085882557788864,
232
+ 0.10005377884954214
233
+ ],
234
+ "orientation": {
235
+ "w": 0.2086375618371583,
236
+ "xyz": [
237
+ 0.6930827898998313,
238
+ -0.6822096375137419,
239
+ -0.10342448751954735
240
+ ]
241
+ }
242
+ },
243
+ "grasp_57": {
244
+ "confidence": 0.3372727632522583,
245
+ "position": [
246
+ 0.024306740757310763,
247
+ 0.05201747399405576,
248
+ 0.08855253364890814
249
+ ],
250
+ "orientation": {
251
+ "w": 0.32061248332795017,
252
+ "xyz": [
253
+ 0.9333711836080326,
254
+ -0.14221797765519067,
255
+ -0.07615717941266625
256
+ ]
257
+ }
258
+ },
259
+ "grasp_58": {
260
+ "confidence": 0.32590770721435547,
261
+ "position": [
262
+ 0.09422906316467561,
263
+ -0.0006766256119590253,
264
+ 0.0690933158621192
265
+ ],
266
+ "orientation": {
267
+ "w": 0.3212079763479464,
268
+ "xyz": [
269
+ -0.64312901112989,
270
+ -0.6172216931188761,
271
+ 0.3197622437327689
272
+ ]
273
+ }
274
+ }
275
+ }
276
+ },
277
+ {
278
+ "part_name": "top panel",
279
+ "mask_color": "Green",
280
+ "graspable": true,
281
+ "grasp_scenarios": [
282
+ {
283
+ "scenario": "use a gentle top-down pinch on the upper face and opposite side to pick up the chocolate",
284
+ "confidence": 0.56
285
+ },
286
+ {
287
+ "scenario": "contact the top face to stabilize the piece against a support during manipulation",
288
+ "confidence": 0.48
289
+ }
290
+ ],
291
+ "functional_labels": [
292
+ "top contact surface",
293
+ "present edible surface",
294
+ "indicate upright orientation",
295
+ "provide flat placement face"
296
+ ],
297
+ "semantic_description": "Flat dark brown chocolate top with a smooth slightly glossy finish, hard texture, rectangular shape, and a broad centered position on the upper face.",
298
+ "id": 1,
299
+ "grasp_group": {
300
+ "grasp_20": {
301
+ "confidence": 0.7205767631530762,
302
+ "position": [
303
+ 0.09571715272613801,
304
+ -0.009307601110776886,
305
+ 0.017283326014876366
306
+ ],
307
+ "orientation": {
308
+ "w": 0.4502809785022747,
309
+ "xyz": [
310
+ -0.5855311298765413,
311
+ -0.43212095469033973,
312
+ 0.5173700966059442
313
+ ]
314
+ }
315
+ },
316
+ "grasp_27": {
317
+ "confidence": 0.7924408316612244,
318
+ "position": [
319
+ -0.09290772848180495,
320
+ 0.003986924100900069,
321
+ 0.060285876505076885
322
+ ],
323
+ "orientation": {
324
+ "w": 0.3899885964639476,
325
+ "xyz": [
326
+ 0.5606890835661399,
327
+ 0.6665037810583254,
328
+ 0.29884670992466733
329
+ ]
330
+ }
331
+ },
332
+ "grasp_29": {
333
+ "confidence": 0.7589563727378845,
334
+ "position": [
335
+ 0.08824653006740846,
336
+ 0.022496921388665214,
337
+ 0.062182395718991756
338
+ ],
339
+ "orientation": {
340
+ "w": 0.4249022003327609,
341
+ "xyz": [
342
+ 0.5885613028645703,
343
+ -0.644169747111645,
344
+ -0.24103744486875428
345
+ ]
346
+ }
347
+ },
348
+ "grasp_30": {
349
+ "confidence": 0.5996268391609192,
350
+ "position": [
351
+ 0.08152314848848619,
352
+ -0.02442340794368647,
353
+ 0.06377831380814314
354
+ ],
355
+ "orientation": {
356
+ "w": 0.21434400573051113,
357
+ "xyz": [
358
+ 0.6389226001631237,
359
+ -0.6001246282950761,
360
+ -0.43091181084055713
361
+ ]
362
+ }
363
+ },
364
+ "grasp_37": {
365
+ "confidence": 0.6110504269599915,
366
+ "position": [
367
+ 0.09412753410288133,
368
+ 0.03198421132401563,
369
+ 0.05483340751379728
370
+ ],
371
+ "orientation": {
372
+ "w": 0.44580724434569746,
373
+ "xyz": [
374
+ 0.6454693438445779,
375
+ -0.5607416871885067,
376
+ -0.2649414790000479
377
+ ]
378
+ }
379
+ },
380
+ "grasp_39": {
381
+ "confidence": 0.5603776574134827,
382
+ "position": [
383
+ -0.09513600342324935,
384
+ 0.004918047605315223,
385
+ 0.06486354302614927
386
+ ],
387
+ "orientation": {
388
+ "w": 0.3098274779524226,
389
+ "xyz": [
390
+ -0.6737785797363561,
391
+ 0.5632545845840026,
392
+ -0.36438116353511274
393
+ ]
394
+ }
395
+ }
396
+ }
397
+ }
398
+ ],
399
+ "quality_check": {
400
+ "success": true,
401
+ "message": "YES"
402
+ }
403
+ }
dataset/food/snack/e5a80020438059e78337721402427957/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:43239b1ff0e8c51f623a6e3347bcfca0d6953556b6a1f468d90bdd8c2f4755f2
3
+ size 111318596