Add asset food/beverages/8c46285362dd552f81f7bc31f93c62d1
Browse files
.gitattributes
CHANGED
|
@@ -6727,4 +6727,5 @@ dataset/food/beverages/69ec6c676d4b57ffafe05f31407a14a6/affordance/mesh_part_seg
|
|
| 6727 |
dataset/food/beverages/6a946c5ecd805380b02b71b8d443e4c6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6728 |
dataset/food/beverages/74a9fa56c020561db6221363d9156c64/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6729 |
dataset/food/beverages/84d18faff79151c59cfadada9216a5ee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6730 |
-
dataset/food/beverages/
|
|
|
|
|
|
| 6727 |
dataset/food/beverages/6a946c5ecd805380b02b71b8d443e4c6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6728 |
dataset/food/beverages/74a9fa56c020561db6221363d9156c64/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6729 |
dataset/food/beverages/84d18faff79151c59cfadada9216a5ee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6730 |
+
dataset/food/beverages/8abd7ce3480e52f5b0e56f48a792dc31/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6731 |
+
dataset/food/beverages/8c46285362dd552f81f7bc31f93c62d1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/food/beverages/8c46285362dd552f81f7bc31f93c62d1/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,442 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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": 0.94
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the body to place or reorient the can",
|
| 18 |
+
"confidence": 0.95
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain the beverage",
|
| 23 |
+
"provide the main grasp surface",
|
| 24 |
+
"support printed labeling",
|
| 25 |
+
"transfer loads between top and bottom"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Tall light beige cylindrical sidewall with a smooth slightly glossy surface, printed beverage branding, barcode, and nutrition graphics, forming the main central body of the can.",
|
| 28 |
+
"id": 2,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_4": {
|
| 31 |
+
"confidence": 0.9893655776977539,
|
| 32 |
+
"position": [
|
| 33 |
+
0.10269370037713088,
|
| 34 |
+
0.0003995913139078766,
|
| 35 |
+
0.02068307437002659
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.47921448866781485,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.5233231316119553,
|
| 41 |
+
-0.5177892013492335,
|
| 42 |
+
-0.47789195090189956
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_5": {
|
| 47 |
+
"confidence": 0.9890779852867126,
|
| 48 |
+
"position": [
|
| 49 |
+
0.10284336018958129,
|
| 50 |
+
-0.013805694616166875,
|
| 51 |
+
0.010747451335191727
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.46890428005649437,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.46526316511781934,
|
| 57 |
+
-0.532985373701637,
|
| 58 |
+
-0.5287585032407287
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_6": {
|
| 63 |
+
"confidence": 0.9887702465057373,
|
| 64 |
+
"position": [
|
| 65 |
+
0.10454270351328887,
|
| 66 |
+
0.010950464085908607,
|
| 67 |
+
0.008759663440287113
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.5304732095042379,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.516755041018263,
|
| 73 |
+
-0.45461889420411405,
|
| 74 |
+
-0.4948576185258899
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_7": {
|
| 79 |
+
"confidence": 0.9886031150817871,
|
| 80 |
+
"position": [
|
| 81 |
+
0.10366315502324142,
|
| 82 |
+
-0.010997672303346917,
|
| 83 |
+
0.020683417096734047
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.5156484864575059,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.5374867598018743,
|
| 89 |
+
-0.47505417981031994,
|
| 90 |
+
0.46854898110710846
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_8": {
|
| 95 |
+
"confidence": 0.9884601831436157,
|
| 96 |
+
"position": [
|
| 97 |
+
0.10361203658976592,
|
| 98 |
+
0.012663112283917144,
|
| 99 |
+
0.01666816510260105
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.5059735889544089,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.5511136664211725,
|
| 105 |
+
-0.4829446703862167,
|
| 106 |
+
-0.45500428493581924
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_9": {
|
| 111 |
+
"confidence": 0.9865869879722595,
|
| 112 |
+
"position": [
|
| 113 |
+
0.10622748095192946,
|
| 114 |
+
-0.010407647787360474,
|
| 115 |
+
0.013891711831092834
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.5151439398685791,
|
| 119 |
+
"xyz": [
|
| 120 |
+
-0.5348203550371278,
|
| 121 |
+
-0.47571814416306935,
|
| 122 |
+
0.47147232831703234
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_10": {
|
| 127 |
+
"confidence": 0.986386775970459,
|
| 128 |
+
"position": [
|
| 129 |
+
0.10631390768685378,
|
| 130 |
+
-0.00738388646277599,
|
| 131 |
+
0.01619330607354641
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.48532784946271157,
|
| 135 |
+
"xyz": [
|
| 136 |
+
0.4766033201150322,
|
| 137 |
+
-0.5154334333050514,
|
| 138 |
+
-0.5211856959113468
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_11": {
|
| 143 |
+
"confidence": 0.9861533641815186,
|
| 144 |
+
"position": [
|
| 145 |
+
0.10448171306052245,
|
| 146 |
+
-0.003919235401554033,
|
| 147 |
+
0.02210511639714241
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.49483687766294965,
|
| 151 |
+
"xyz": [
|
| 152 |
+
-0.5160441854494865,
|
| 153 |
+
-0.49212849512439716,
|
| 154 |
+
0.49663307124592004
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_12": {
|
| 159 |
+
"confidence": 0.9860383868217468,
|
| 160 |
+
"position": [
|
| 161 |
+
0.10657657045521773,
|
| 162 |
+
-0.005085627286462113,
|
| 163 |
+
0.019163547083735466
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.5014235227451898,
|
| 167 |
+
"xyz": [
|
| 168 |
+
-0.5251512734732235,
|
| 169 |
+
-0.4870290677801232,
|
| 170 |
+
0.4853795194942609
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"grasp_13": {
|
| 175 |
+
"confidence": 0.9858134388923645,
|
| 176 |
+
"position": [
|
| 177 |
+
0.10347071397700347,
|
| 178 |
+
-0.017772059625713155,
|
| 179 |
+
0.009936315938830376
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.5362600327048812,
|
| 183 |
+
"xyz": [
|
| 184 |
+
-0.5393120740133925,
|
| 185 |
+
-0.4504246485983253,
|
| 186 |
+
0.4676380011096276
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"grasp_14": {
|
| 191 |
+
"confidence": 0.9856215119361877,
|
| 192 |
+
"position": [
|
| 193 |
+
0.10168546545901336,
|
| 194 |
+
-0.01470176104339771,
|
| 195 |
+
-0.017451741732656956
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.5175206460887694,
|
| 199 |
+
"xyz": [
|
| 200 |
+
-0.5402093784932248,
|
| 201 |
+
-0.47063737930742555,
|
| 202 |
+
0.4678105016547453
|
| 203 |
+
]
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"grasp_15": {
|
| 207 |
+
"confidence": 0.9855689406394958,
|
| 208 |
+
"position": [
|
| 209 |
+
0.10162714231410064,
|
| 210 |
+
0.003980404959293082,
|
| 211 |
+
0.013835998252034187
|
| 212 |
+
],
|
| 213 |
+
"orientation": {
|
| 214 |
+
"w": 0.47449624157233156,
|
| 215 |
+
"xyz": [
|
| 216 |
+
-0.4989762291754701,
|
| 217 |
+
-0.5101565001154088,
|
| 218 |
+
0.515379845203087
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"grasp_16": {
|
| 223 |
+
"confidence": 0.9851367473602295,
|
| 224 |
+
"position": [
|
| 225 |
+
0.10545808184542693,
|
| 226 |
+
-0.002888394024921581,
|
| 227 |
+
0.027559170499444008
|
| 228 |
+
],
|
| 229 |
+
"orientation": {
|
| 230 |
+
"w": 0.4960275025952117,
|
| 231 |
+
"xyz": [
|
| 232 |
+
-0.5211376582529448,
|
| 233 |
+
-0.49280067316571086,
|
| 234 |
+
0.4894075544443677
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
"grasp_17": {
|
| 239 |
+
"confidence": 0.9850055575370789,
|
| 240 |
+
"position": [
|
| 241 |
+
0.10414699572720565,
|
| 242 |
+
-0.01711126763257198,
|
| 243 |
+
0.023689856752753258
|
| 244 |
+
],
|
| 245 |
+
"orientation": {
|
| 246 |
+
"w": 0.5250562538063357,
|
| 247 |
+
"xyz": [
|
| 248 |
+
-0.5535787207400539,
|
| 249 |
+
-0.4565340241662007,
|
| 250 |
+
0.45764966411140007
|
| 251 |
+
]
|
| 252 |
+
}
|
| 253 |
+
},
|
| 254 |
+
"grasp_18": {
|
| 255 |
+
"confidence": 0.9848047494888306,
|
| 256 |
+
"position": [
|
| 257 |
+
0.10240362692275085,
|
| 258 |
+
-0.02389520753058605,
|
| 259 |
+
0.008652934804558754
|
| 260 |
+
],
|
| 261 |
+
"orientation": {
|
| 262 |
+
"w": 0.44365219643622467,
|
| 263 |
+
"xyz": [
|
| 264 |
+
0.43064058551870005,
|
| 265 |
+
-0.5626432183109538,
|
| 266 |
+
-0.5487750209239827
|
| 267 |
+
]
|
| 268 |
+
}
|
| 269 |
+
},
|
| 270 |
+
"grasp_19": {
|
| 271 |
+
"confidence": 0.9843042492866516,
|
| 272 |
+
"position": [
|
| 273 |
+
0.10025617587962188,
|
| 274 |
+
-0.018340458831517026,
|
| 275 |
+
-0.027637368068099022
|
| 276 |
+
],
|
| 277 |
+
"orientation": {
|
| 278 |
+
"w": 0.5255674254407143,
|
| 279 |
+
"xyz": [
|
| 280 |
+
-0.5493126530926937,
|
| 281 |
+
-0.4581183542031364,
|
| 282 |
+
0.4606105339764757
|
| 283 |
+
]
|
| 284 |
+
}
|
| 285 |
+
},
|
| 286 |
+
"grasp_20": {
|
| 287 |
+
"confidence": 0.984122633934021,
|
| 288 |
+
"position": [
|
| 289 |
+
0.1049582521955017,
|
| 290 |
+
-0.010096478945342824,
|
| 291 |
+
0.000599574763327837
|
| 292 |
+
],
|
| 293 |
+
"orientation": {
|
| 294 |
+
"w": 0.484001526281014,
|
| 295 |
+
"xyz": [
|
| 296 |
+
0.46985845297352347,
|
| 297 |
+
-0.529818797597075,
|
| 298 |
+
-0.5140696435695907
|
| 299 |
+
]
|
| 300 |
+
}
|
| 301 |
+
},
|
| 302 |
+
"grasp_21": {
|
| 303 |
+
"confidence": 0.9840196371078491,
|
| 304 |
+
"position": [
|
| 305 |
+
0.10667201239266433,
|
| 306 |
+
-0.010070132761029527,
|
| 307 |
+
0.022196751087903976
|
| 308 |
+
],
|
| 309 |
+
"orientation": {
|
| 310 |
+
"w": 0.49749207441689397,
|
| 311 |
+
"xyz": [
|
| 312 |
+
-0.5454410719459819,
|
| 313 |
+
-0.4954395453070266,
|
| 314 |
+
0.45775029205098355
|
| 315 |
+
]
|
| 316 |
+
}
|
| 317 |
+
},
|
| 318 |
+
"grasp_22": {
|
| 319 |
+
"confidence": 0.9839146137237549,
|
| 320 |
+
"position": [
|
| 321 |
+
0.10083923596539535,
|
| 322 |
+
-0.010538345872191712,
|
| 323 |
+
0.009886701591312885
|
| 324 |
+
],
|
| 325 |
+
"orientation": {
|
| 326 |
+
"w": 0.4439175613564991,
|
| 327 |
+
"xyz": [
|
| 328 |
+
-0.5854964663032582,
|
| 329 |
+
-0.5323980221331968,
|
| 330 |
+
0.4203372844447139
|
| 331 |
+
]
|
| 332 |
+
}
|
| 333 |
+
},
|
| 334 |
+
"grasp_23": {
|
| 335 |
+
"confidence": 0.9835029244422913,
|
| 336 |
+
"position": [
|
| 337 |
+
0.10175478566088714,
|
| 338 |
+
0.01903026390937157,
|
| 339 |
+
0.018970638513565063
|
| 340 |
+
],
|
| 341 |
+
"orientation": {
|
| 342 |
+
"w": 0.43388539625143296,
|
| 343 |
+
"xyz": [
|
| 344 |
+
-0.46933670459392374,
|
| 345 |
+
-0.5381261911634012,
|
| 346 |
+
0.5494421926141305
|
| 347 |
+
]
|
| 348 |
+
}
|
| 349 |
+
}
|
| 350 |
+
}
|
| 351 |
+
},
|
| 352 |
+
{
|
| 353 |
+
"part_name": "top lid",
|
| 354 |
+
"mask_color": "Yellow",
|
| 355 |
+
"graspable": false,
|
| 356 |
+
"grasp_scenarios": [],
|
| 357 |
+
"functional_labels": [
|
| 358 |
+
"seal the beverage opening",
|
| 359 |
+
"support the pull tab",
|
| 360 |
+
"provide the drinking interface area",
|
| 361 |
+
"close the top of the can"
|
| 362 |
+
],
|
| 363 |
+
"semantic_description": "Flat circular light gray to white can top with a smooth finish and shallow stamped contours, positioned at the upper end around the opening mechanism.",
|
| 364 |
+
"id": 3,
|
| 365 |
+
"grasp_group": {}
|
| 366 |
+
},
|
| 367 |
+
{
|
| 368 |
+
"part_name": "pull tab",
|
| 369 |
+
"mask_color": "Red",
|
| 370 |
+
"graspable": true,
|
| 371 |
+
"grasp_scenarios": [
|
| 372 |
+
{
|
| 373 |
+
"scenario": "pinch and lift the tab to open the can",
|
| 374 |
+
"confidence": 0.82
|
| 375 |
+
},
|
| 376 |
+
{
|
| 377 |
+
"scenario": "hook or pinch the tab to start rotating it for opening",
|
| 378 |
+
"confidence": 0.76
|
| 379 |
+
}
|
| 380 |
+
],
|
| 381 |
+
"functional_labels": [
|
| 382 |
+
"open the can",
|
| 383 |
+
"actuate the scored opening",
|
| 384 |
+
"provide a finger or tool hook point"
|
| 385 |
+
],
|
| 386 |
+
"semantic_description": "Small light gray ring-pull tab with a smooth finish and rounded oblong shape, mounted on the can top above the scored drinking opening.",
|
| 387 |
+
"id": 0,
|
| 388 |
+
"grasp_group": {
|
| 389 |
+
"grasp_3": {
|
| 390 |
+
"confidence": 0.4184648394584656,
|
| 391 |
+
"position": [
|
| 392 |
+
-0.05664736297330819,
|
| 393 |
+
0.01360882751760073,
|
| 394 |
+
0.14007299952208996
|
| 395 |
+
],
|
| 396 |
+
"orientation": {
|
| 397 |
+
"w": 0.21898510493144058,
|
| 398 |
+
"xyz": [
|
| 399 |
+
0.6870673686070694,
|
| 400 |
+
0.6758141230112423,
|
| 401 |
+
0.1525097569077747
|
| 402 |
+
]
|
| 403 |
+
}
|
| 404 |
+
}
|
| 405 |
+
}
|
| 406 |
+
},
|
| 407 |
+
{
|
| 408 |
+
"part_name": "upper rim",
|
| 409 |
+
"mask_color": "Green",
|
| 410 |
+
"graspable": false,
|
| 411 |
+
"grasp_scenarios": [],
|
| 412 |
+
"functional_labels": [
|
| 413 |
+
"reinforce the top edge",
|
| 414 |
+
"transition between body and lid",
|
| 415 |
+
"stabilize the sealed top assembly",
|
| 416 |
+
"provide a lip for drinking contact"
|
| 417 |
+
],
|
| 418 |
+
"semantic_description": "Narrow circular light gray shoulder and rim with a smooth finish, wrapping around the can just below and around the top lid.",
|
| 419 |
+
"id": 1,
|
| 420 |
+
"grasp_group": {}
|
| 421 |
+
},
|
| 422 |
+
{
|
| 423 |
+
"part_name": "bottom base",
|
| 424 |
+
"mask_color": "Orange",
|
| 425 |
+
"graspable": false,
|
| 426 |
+
"grasp_scenarios": [],
|
| 427 |
+
"functional_labels": [
|
| 428 |
+
"support standing",
|
| 429 |
+
"stabilize the can on flat surfaces",
|
| 430 |
+
"protect the lower edge",
|
| 431 |
+
"close the bottom of the container"
|
| 432 |
+
],
|
| 433 |
+
"semantic_description": "Circular light gray to white base with a smooth finish and slightly concave profile, located at the bottom end and sized to support upright placement.",
|
| 434 |
+
"id": 4,
|
| 435 |
+
"grasp_group": {}
|
| 436 |
+
}
|
| 437 |
+
],
|
| 438 |
+
"quality_check": {
|
| 439 |
+
"success": true,
|
| 440 |
+
"message": "YES"
|
| 441 |
+
}
|
| 442 |
+
}
|
dataset/food/beverages/8c46285362dd552f81f7bc31f93c62d1/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f319d27e7640a73cbf9cfa7555de8415729f9e8fe7136413c2035422c8cef460
|
| 3 |
+
size 3783892
|