Add asset food/beverages/b6855ffdcc5b5a4e99a945ca51a94cf1
Browse files
.gitattributes
CHANGED
|
@@ -6734,3 +6734,4 @@ dataset/food/beverages/9044112657245b92924b802a8f6d737b/affordance/mesh_part_seg
|
|
| 6734 |
dataset/food/beverages/971432c3582d56cbabadeb22ace92df5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6735 |
dataset/food/beverages/92a48cc3aa755abaae8f62b11b1b9112/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6736 |
dataset/food/beverages/aa5b8e75dfc65ba0b57efd6e83dd467a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 6734 |
dataset/food/beverages/971432c3582d56cbabadeb22ace92df5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6735 |
dataset/food/beverages/92a48cc3aa755abaae8f62b11b1b9112/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6736 |
dataset/food/beverages/aa5b8e75dfc65ba0b57efd6e83dd467a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6737 |
+
dataset/food/beverages/b6855ffdcc5b5a4e99a945ca51a94cf1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/food/beverages/b6855ffdcc5b5a4e99a945ca51a94cf1/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,421 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "can body",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the cylindrical body from the side to pick up the can",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize the can while opening the tab",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the body to place or reposition the can on a surface",
|
| 18 |
+
"confidence": 0.95
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain the beverage",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"support printed branding",
|
| 25 |
+
"provide structural shell",
|
| 26 |
+
"stabilize upright placement"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Tall cylindrical aluminum body with a glossy smooth hard surface, predominantly red with white Coca-Cola script and holiday graphics, forming the main sidewall of the can.",
|
| 29 |
+
"id": 2,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_2": {
|
| 32 |
+
"confidence": 0.982635498046875,
|
| 33 |
+
"position": [
|
| 34 |
+
-0.035266474456875585,
|
| 35 |
+
-0.09487202009313478,
|
| 36 |
+
0.008814230561256409
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.11068265458839925,
|
| 40 |
+
"xyz": [
|
| 41 |
+
0.12949334493313652,
|
| 42 |
+
0.714305602330478,
|
| 43 |
+
0.6787844503747751
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_3": {
|
| 48 |
+
"confidence": 0.9825913310050964,
|
| 49 |
+
"position": [
|
| 50 |
+
-0.10108668413886335,
|
| 51 |
+
0.005019810142584902,
|
| 52 |
+
-0.013444150798022747
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.48007662584616745,
|
| 56 |
+
"xyz": [
|
| 57 |
+
-0.4908215899383297,
|
| 58 |
+
0.5030366335813105,
|
| 59 |
+
-0.5249521363341151
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_4": {
|
| 64 |
+
"confidence": 0.9824275374412537,
|
| 65 |
+
"position": [
|
| 66 |
+
-0.021817643762915395,
|
| 67 |
+
-0.1009701638495244,
|
| 68 |
+
0.0003531770780682564
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.06164497764701242,
|
| 72 |
+
"xyz": [
|
| 73 |
+
0.09126552265883058,
|
| 74 |
+
0.7177945465223935,
|
| 75 |
+
0.6874892654343199
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_5": {
|
| 80 |
+
"confidence": 0.9816305041313171,
|
| 81 |
+
"position": [
|
| 82 |
+
-0.10091359225043561,
|
| 83 |
+
0.0038723271327398834,
|
| 84 |
+
-0.008848115336149931
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.5222869678763878,
|
| 88 |
+
"xyz": [
|
| 89 |
+
0.5123810306586846,
|
| 90 |
+
0.4880718641037872,
|
| 91 |
+
0.47588639198645605
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_6": {
|
| 96 |
+
"confidence": 0.9815841317176819,
|
| 97 |
+
"position": [
|
| 98 |
+
-0.10148034301528241,
|
| 99 |
+
0.009942510257133108,
|
| 100 |
+
-0.016326324082911015
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.4668705133983456,
|
| 104 |
+
"xyz": [
|
| 105 |
+
-0.4789292761940673,
|
| 106 |
+
0.5142067407655774,
|
| 107 |
+
-0.5368892808341718
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_7": {
|
| 112 |
+
"confidence": 0.9814503192901611,
|
| 113 |
+
"position": [
|
| 114 |
+
-0.032705493838875555,
|
| 115 |
+
-0.09295634171121492,
|
| 116 |
+
0.0006977496668696404
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.10932077481657539,
|
| 120 |
+
"xyz": [
|
| 121 |
+
0.11976569533323891,
|
| 122 |
+
0.7193600325281977,
|
| 123 |
+
0.675445253159633
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_8": {
|
| 128 |
+
"confidence": 0.9814226627349854,
|
| 129 |
+
"position": [
|
| 130 |
+
-0.0998380040837219,
|
| 131 |
+
0.0034512359170548734,
|
| 132 |
+
-0.013475201092660427
|
| 133 |
+
],
|
| 134 |
+
"orientation": {
|
| 135 |
+
"w": 0.5183999955379276,
|
| 136 |
+
"xyz": [
|
| 137 |
+
0.5095017992887916,
|
| 138 |
+
0.49258007390161496,
|
| 139 |
+
0.47857521033045575
|
| 140 |
+
]
|
| 141 |
+
}
|
| 142 |
+
},
|
| 143 |
+
"grasp_9": {
|
| 144 |
+
"confidence": 0.9811471700668335,
|
| 145 |
+
"position": [
|
| 146 |
+
-0.09881743845471647,
|
| 147 |
+
0.010021622384556395,
|
| 148 |
+
-0.023255174979567528
|
| 149 |
+
],
|
| 150 |
+
"orientation": {
|
| 151 |
+
"w": 0.5502487004435996,
|
| 152 |
+
"xyz": [
|
| 153 |
+
0.5045870619367314,
|
| 154 |
+
0.45891212649039437,
|
| 155 |
+
0.48168238990672174
|
| 156 |
+
]
|
| 157 |
+
}
|
| 158 |
+
},
|
| 159 |
+
"grasp_10": {
|
| 160 |
+
"confidence": 0.9809815883636475,
|
| 161 |
+
"position": [
|
| 162 |
+
-0.03703030255564954,
|
| 163 |
+
-0.09175624689214601,
|
| 164 |
+
0.007566036656498909
|
| 165 |
+
],
|
| 166 |
+
"orientation": {
|
| 167 |
+
"w": 0.12560441810369105,
|
| 168 |
+
"xyz": [
|
| 169 |
+
0.13854519898916565,
|
| 170 |
+
0.7132989817317059,
|
| 171 |
+
0.6754504575839719
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
},
|
| 175 |
+
"grasp_11": {
|
| 176 |
+
"confidence": 0.9809629917144775,
|
| 177 |
+
"position": [
|
| 178 |
+
-0.016215483294217847,
|
| 179 |
+
-0.09920321395748033,
|
| 180 |
+
-0.0009049440268427134
|
| 181 |
+
],
|
| 182 |
+
"orientation": {
|
| 183 |
+
"w": 0.6928500051854164,
|
| 184 |
+
"xyz": [
|
| 185 |
+
-0.7168031438480068,
|
| 186 |
+
0.06017423717215831,
|
| 187 |
+
-0.050310878196776446
|
| 188 |
+
]
|
| 189 |
+
}
|
| 190 |
+
},
|
| 191 |
+
"grasp_12": {
|
| 192 |
+
"confidence": 0.9809594750404358,
|
| 193 |
+
"position": [
|
| 194 |
+
-0.10066435542830732,
|
| 195 |
+
0.005184135025956493,
|
| 196 |
+
-0.020237810909748077
|
| 197 |
+
],
|
| 198 |
+
"orientation": {
|
| 199 |
+
"w": 0.4746936947769295,
|
| 200 |
+
"xyz": [
|
| 201 |
+
-0.496222055056753,
|
| 202 |
+
0.504476685831709,
|
| 203 |
+
-0.5233859395002272
|
| 204 |
+
]
|
| 205 |
+
}
|
| 206 |
+
},
|
| 207 |
+
"grasp_13": {
|
| 208 |
+
"confidence": 0.9808492064476013,
|
| 209 |
+
"position": [
|
| 210 |
+
-0.02859129999706056,
|
| 211 |
+
-0.09965341529004945,
|
| 212 |
+
-0.007942472817376256
|
| 213 |
+
],
|
| 214 |
+
"orientation": {
|
| 215 |
+
"w": 0.09163246759546646,
|
| 216 |
+
"xyz": [
|
| 217 |
+
0.10810641278114767,
|
| 218 |
+
0.7194185710240807,
|
| 219 |
+
0.6799657447722114
|
| 220 |
+
]
|
| 221 |
+
}
|
| 222 |
+
},
|
| 223 |
+
"grasp_14": {
|
| 224 |
+
"confidence": 0.980796217918396,
|
| 225 |
+
"position": [
|
| 226 |
+
-0.09525588956603315,
|
| 227 |
+
0.023064076992341143,
|
| 228 |
+
-0.021143535152077675
|
| 229 |
+
],
|
| 230 |
+
"orientation": {
|
| 231 |
+
"w": 0.4398538368319173,
|
| 232 |
+
"xyz": [
|
| 233 |
+
-0.44393177304646775,
|
| 234 |
+
0.532704221126681,
|
| 235 |
+
-0.5706832710864025
|
| 236 |
+
]
|
| 237 |
+
}
|
| 238 |
+
},
|
| 239 |
+
"grasp_15": {
|
| 240 |
+
"confidence": 0.980759859085083,
|
| 241 |
+
"position": [
|
| 242 |
+
-0.034120563985197805,
|
| 243 |
+
-0.0930452643906392,
|
| 244 |
+
0.014422185719013214
|
| 245 |
+
],
|
| 246 |
+
"orientation": {
|
| 247 |
+
"w": 0.11161039772821164,
|
| 248 |
+
"xyz": [
|
| 249 |
+
0.14691616203411578,
|
| 250 |
+
0.7653582959616693,
|
| 251 |
+
0.6165917930485013
|
| 252 |
+
]
|
| 253 |
+
}
|
| 254 |
+
},
|
| 255 |
+
"grasp_16": {
|
| 256 |
+
"confidence": 0.9807040691375732,
|
| 257 |
+
"position": [
|
| 258 |
+
-0.10043960866460111,
|
| 259 |
+
0.00992303071416245,
|
| 260 |
+
-0.00516027957201004
|
| 261 |
+
],
|
| 262 |
+
"orientation": {
|
| 263 |
+
"w": 0.5324162326213505,
|
| 264 |
+
"xyz": [
|
| 265 |
+
0.5192406385106324,
|
| 266 |
+
0.47882387517204605,
|
| 267 |
+
0.46652953939229097
|
| 268 |
+
]
|
| 269 |
+
}
|
| 270 |
+
},
|
| 271 |
+
"grasp_17": {
|
| 272 |
+
"confidence": 0.9806035161018372,
|
| 273 |
+
"position": [
|
| 274 |
+
-0.0975344186736038,
|
| 275 |
+
0.013857877905138594,
|
| 276 |
+
-0.01458070334047079
|
| 277 |
+
],
|
| 278 |
+
"orientation": {
|
| 279 |
+
"w": 0.4600092481180491,
|
| 280 |
+
"xyz": [
|
| 281 |
+
-0.46998074395784056,
|
| 282 |
+
0.5217185279750182,
|
| 283 |
+
-0.5434329485063291
|
| 284 |
+
]
|
| 285 |
+
}
|
| 286 |
+
},
|
| 287 |
+
"grasp_18": {
|
| 288 |
+
"confidence": 0.9805372357368469,
|
| 289 |
+
"position": [
|
| 290 |
+
-0.09950941112765577,
|
| 291 |
+
0.01576631525404082,
|
| 292 |
+
-0.006057810387574136
|
| 293 |
+
],
|
| 294 |
+
"orientation": {
|
| 295 |
+
"w": 0.4440044738737386,
|
| 296 |
+
"xyz": [
|
| 297 |
+
-0.4760575339274293,
|
| 298 |
+
0.5274410227252315,
|
| 299 |
+
-0.545926019821002
|
| 300 |
+
]
|
| 301 |
+
}
|
| 302 |
+
},
|
| 303 |
+
"grasp_19": {
|
| 304 |
+
"confidence": 0.9804999828338623,
|
| 305 |
+
"position": [
|
| 306 |
+
-0.09878599700459745,
|
| 307 |
+
0.008258467632003885,
|
| 308 |
+
-0.015815870836377144
|
| 309 |
+
],
|
| 310 |
+
"orientation": {
|
| 311 |
+
"w": 0.46060377861793766,
|
| 312 |
+
"xyz": [
|
| 313 |
+
-0.48937756488530704,
|
| 314 |
+
0.5118190053845646,
|
| 315 |
+
-0.5351589145636654
|
| 316 |
+
]
|
| 317 |
+
}
|
| 318 |
+
},
|
| 319 |
+
"grasp_20": {
|
| 320 |
+
"confidence": 0.9804856777191162,
|
| 321 |
+
"position": [
|
| 322 |
+
-0.09829935488232877,
|
| 323 |
+
0.007533938250162464,
|
| 324 |
+
-0.008033366408199072
|
| 325 |
+
],
|
| 326 |
+
"orientation": {
|
| 327 |
+
"w": 0.4569345575033268,
|
| 328 |
+
"xyz": [
|
| 329 |
+
-0.49201609872853996,
|
| 330 |
+
0.5156464082648693,
|
| 331 |
+
-0.532202734298431
|
| 332 |
+
]
|
| 333 |
+
}
|
| 334 |
+
},
|
| 335 |
+
"grasp_21": {
|
| 336 |
+
"confidence": 0.9804114103317261,
|
| 337 |
+
"position": [
|
| 338 |
+
-0.09911076781281736,
|
| 339 |
+
0.003260379050516349,
|
| 340 |
+
-0.010956592857837677
|
| 341 |
+
],
|
| 342 |
+
"orientation": {
|
| 343 |
+
"w": 0.4717219290141763,
|
| 344 |
+
"xyz": [
|
| 345 |
+
-0.5041245302318044,
|
| 346 |
+
0.5164523833241618,
|
| 347 |
+
-0.5065706421265446
|
| 348 |
+
]
|
| 349 |
+
}
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
},
|
| 353 |
+
{
|
| 354 |
+
"part_name": "can lid",
|
| 355 |
+
"mask_color": "Yellow",
|
| 356 |
+
"graspable": true,
|
| 357 |
+
"grasp_scenarios": [
|
| 358 |
+
{
|
| 359 |
+
"scenario": "pinch the top rim area to steady the can during opening",
|
| 360 |
+
"confidence": 0.46
|
| 361 |
+
},
|
| 362 |
+
{
|
| 363 |
+
"scenario": "grasp the can near the lid for short-distance repositioning",
|
| 364 |
+
"confidence": 0.38
|
| 365 |
+
}
|
| 366 |
+
],
|
| 367 |
+
"functional_labels": [
|
| 368 |
+
"seal the beverage opening",
|
| 369 |
+
"support the pull tab",
|
| 370 |
+
"provide top surface",
|
| 371 |
+
"maintain container closure"
|
| 372 |
+
],
|
| 373 |
+
"semantic_description": "Circular silver metal top with a slightly recessed form, reflective smooth finish, and hard surface, located at the can's upper end around the opening mechanism.",
|
| 374 |
+
"id": 3,
|
| 375 |
+
"grasp_group": {}
|
| 376 |
+
},
|
| 377 |
+
{
|
| 378 |
+
"part_name": "pull tab",
|
| 379 |
+
"mask_color": "Green",
|
| 380 |
+
"graspable": true,
|
| 381 |
+
"grasp_scenarios": [
|
| 382 |
+
{
|
| 383 |
+
"scenario": "pinch and lift the pull tab to open the can",
|
| 384 |
+
"confidence": 0.93
|
| 385 |
+
},
|
| 386 |
+
{
|
| 387 |
+
"scenario": "grasp the tab delicately to inspect or orient the opening side",
|
| 388 |
+
"confidence": 0.34
|
| 389 |
+
}
|
| 390 |
+
],
|
| 391 |
+
"functional_labels": [
|
| 392 |
+
"open the drink can",
|
| 393 |
+
"actuate the scored opening",
|
| 394 |
+
"indicate opening mechanism",
|
| 395 |
+
"provide a small lifting point"
|
| 396 |
+
],
|
| 397 |
+
"semantic_description": "Small silver aluminum ring tab with a reflective smooth hard surface, mounted on the lid near the drinking aperture and shaped for levering upward.",
|
| 398 |
+
"id": 1,
|
| 399 |
+
"grasp_group": {}
|
| 400 |
+
},
|
| 401 |
+
{
|
| 402 |
+
"part_name": "drinking opening",
|
| 403 |
+
"mask_color": "Red",
|
| 404 |
+
"graspable": false,
|
| 405 |
+
"grasp_scenarios": [],
|
| 406 |
+
"functional_labels": [
|
| 407 |
+
"dispense the beverage",
|
| 408 |
+
"allow drinking access",
|
| 409 |
+
"vent liquid flow",
|
| 410 |
+
"form the can mouth"
|
| 411 |
+
],
|
| 412 |
+
"semantic_description": "Small dark oval opening on the silver lid beneath the tab, recessed into the metal top and serving as the outlet for the drink.",
|
| 413 |
+
"id": 0,
|
| 414 |
+
"grasp_group": {}
|
| 415 |
+
}
|
| 416 |
+
],
|
| 417 |
+
"quality_check": {
|
| 418 |
+
"success": true,
|
| 419 |
+
"message": "YES"
|
| 420 |
+
}
|
| 421 |
+
}
|
dataset/food/beverages/b6855ffdcc5b5a4e99a945ca51a94cf1/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5b580f5f5a24af0ec9c4873e8d328352b22f2bcf34583fdaa02ad7de9ce110ba
|
| 3 |
+
size 3779964
|
dataset/food/beverages/b6855ffdcc5b5a4e99a945ca51a94cf1/canned_coke_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>
|