Add asset food/beverages/863c528c27c8532491bd61dc3954cccb
Browse files
.gitattributes
CHANGED
|
@@ -6727,4 +6727,4 @@ 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/863c528c27c8532491bd61dc3954cccb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/food/beverages/863c528c27c8532491bd61dc3954cccb/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,779 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "bottle cap",
|
| 5 |
+
"mask_color": "Purple",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp and twist the cap to open the juice bottle",
|
| 10 |
+
"confidence": 0.93
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp the cap to reclose the bottle",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pinch the cap to steady the bottle neck during manipulation",
|
| 18 |
+
"confidence": 0.56
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"seal the bottle opening",
|
| 23 |
+
"enable opening by twisting",
|
| 24 |
+
"prevent leakage",
|
| 25 |
+
"provide a small top grip"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Small pale green plastic screw cap with a matte to lightly satin finish, hard ribbed texture, and cylindrical shape at the top of the bottle.",
|
| 28 |
+
"id": 5,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.967232346534729,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.08131063990003895,
|
| 34 |
+
0.030165569245582446,
|
| 35 |
+
0.16247180197387934
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.40023203197010687,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.7189939898169447,
|
| 41 |
+
0.4955633699436922,
|
| 42 |
+
0.27799084438564076
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9669199585914612,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.0911601807893021,
|
| 50 |
+
0.03899981951690279,
|
| 51 |
+
0.13002871070057154
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.5414158379790444,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.644312435863808,
|
| 57 |
+
0.4212396127778083,
|
| 58 |
+
0.33806443764983246
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.9660489559173584,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.04868845902092289,
|
| 66 |
+
-0.006446244806284085,
|
| 67 |
+
0.19236414227634668
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.15657070010533647,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.6179114396330944,
|
| 73 |
+
0.7440359676452579,
|
| 74 |
+
0.20020376492280628
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_3": {
|
| 79 |
+
"confidence": 0.9643146395683289,
|
| 80 |
+
"position": [
|
| 81 |
+
0.05742888637178112,
|
| 82 |
+
-0.07234352329396643,
|
| 83 |
+
0.15615132544189692
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.18231778991208394,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.2571358680742166,
|
| 89 |
+
-0.812946763772261,
|
| 90 |
+
-0.4896518437660587
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_4": {
|
| 95 |
+
"confidence": 0.9641389846801758,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.07235120497352909,
|
| 98 |
+
0.04215160137391649,
|
| 99 |
+
0.16423866245895624
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.22471975423408438,
|
| 103 |
+
"xyz": [
|
| 104 |
+
-0.4669100806202861,
|
| 105 |
+
0.7432012674184202,
|
| 106 |
+
-0.42325864997632956
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_5": {
|
| 111 |
+
"confidence": 0.9636517763137817,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.07104454450018238,
|
| 114 |
+
0.048609377205139026,
|
| 115 |
+
0.16163283679634333
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.4384927475010733,
|
| 119 |
+
"xyz": [
|
| 120 |
+
0.764573924863717,
|
| 121 |
+
0.4145397512866549,
|
| 122 |
+
0.22651185048612651
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_6": {
|
| 127 |
+
"confidence": 0.9631906151771545,
|
| 128 |
+
"position": [
|
| 129 |
+
-0.07376476637728047,
|
| 130 |
+
0.038130269706016406,
|
| 131 |
+
0.1608467409387231
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.23568753379952015,
|
| 135 |
+
"xyz": [
|
| 136 |
+
-0.48478666376946483,
|
| 137 |
+
0.7326568652302451,
|
| 138 |
+
-0.4155083571647666
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_7": {
|
| 143 |
+
"confidence": 0.9607360363006592,
|
| 144 |
+
"position": [
|
| 145 |
+
-0.08379278592474293,
|
| 146 |
+
-0.027152619004482403,
|
| 147 |
+
0.1585929850116372
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.2872741243405181,
|
| 151 |
+
"xyz": [
|
| 152 |
+
0.5178217120232378,
|
| 153 |
+
0.6965425701044938,
|
| 154 |
+
0.4051699644271993
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_8": {
|
| 159 |
+
"confidence": 0.96027672290802,
|
| 160 |
+
"position": [
|
| 161 |
+
-0.04214343316562008,
|
| 162 |
+
-0.015433911845320836,
|
| 163 |
+
0.19414639566093683
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.1377978215366825,
|
| 167 |
+
"xyz": [
|
| 168 |
+
0.5982401418361843,
|
| 169 |
+
0.759679134366834,
|
| 170 |
+
0.21449500200057037
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"grasp_9": {
|
| 175 |
+
"confidence": 0.9600688219070435,
|
| 176 |
+
"position": [
|
| 177 |
+
-0.08005843572027516,
|
| 178 |
+
0.0336180453596171,
|
| 179 |
+
0.15665914211422205
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.259365877687805,
|
| 183 |
+
"xyz": [
|
| 184 |
+
-0.5085080095280107,
|
| 185 |
+
0.7099454604452912,
|
| 186 |
+
-0.41246380317576786
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"grasp_10": {
|
| 191 |
+
"confidence": 0.9592853784561157,
|
| 192 |
+
"position": [
|
| 193 |
+
0.06811523177020717,
|
| 194 |
+
-0.057660507649416104,
|
| 195 |
+
0.1548444489017129
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.22739963944047153,
|
| 199 |
+
"xyz": [
|
| 200 |
+
0.3348642384068482,
|
| 201 |
+
-0.7845640620885195,
|
| 202 |
+
-0.46969626174551016
|
| 203 |
+
]
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"grasp_11": {
|
| 207 |
+
"confidence": 0.9592446684837341,
|
| 208 |
+
"position": [
|
| 209 |
+
-0.0812305759609444,
|
| 210 |
+
0.030911949783330783,
|
| 211 |
+
0.15636973176151514
|
| 212 |
+
],
|
| 213 |
+
"orientation": {
|
| 214 |
+
"w": 0.2699522244891705,
|
| 215 |
+
"xyz": [
|
| 216 |
+
-0.5104356456161098,
|
| 217 |
+
0.7022909268912317,
|
| 218 |
+
-0.41637567434237605
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"grasp_12": {
|
| 223 |
+
"confidence": 0.959087073802948,
|
| 224 |
+
"position": [
|
| 225 |
+
-0.04778954647190403,
|
| 226 |
+
-0.010311675869161263,
|
| 227 |
+
0.19191862735897303
|
| 228 |
+
],
|
| 229 |
+
"orientation": {
|
| 230 |
+
"w": 0.15945981201511036,
|
| 231 |
+
"xyz": [
|
| 232 |
+
0.6501641706602324,
|
| 233 |
+
0.7126736359336968,
|
| 234 |
+
0.2096554511259898
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
"grasp_13": {
|
| 239 |
+
"confidence": 0.9582495093345642,
|
| 240 |
+
"position": [
|
| 241 |
+
-0.0750573378027184,
|
| 242 |
+
0.03586111715412699,
|
| 243 |
+
0.15988677833229303
|
| 244 |
+
],
|
| 245 |
+
"orientation": {
|
| 246 |
+
"w": 0.23928537507505962,
|
| 247 |
+
"xyz": [
|
| 248 |
+
-0.49676476456445334,
|
| 249 |
+
0.7239978601314251,
|
| 250 |
+
-0.41448085177427446
|
| 251 |
+
]
|
| 252 |
+
}
|
| 253 |
+
},
|
| 254 |
+
"grasp_14": {
|
| 255 |
+
"confidence": 0.9581040143966675,
|
| 256 |
+
"position": [
|
| 257 |
+
-0.07266453914053272,
|
| 258 |
+
0.03532998016453348,
|
| 259 |
+
0.16434593591839075
|
| 260 |
+
],
|
| 261 |
+
"orientation": {
|
| 262 |
+
"w": 0.23000582408705375,
|
| 263 |
+
"xyz": [
|
| 264 |
+
-0.5006571306464835,
|
| 265 |
+
0.7251334619384645,
|
| 266 |
+
-0.41306321646450495
|
| 267 |
+
]
|
| 268 |
+
}
|
| 269 |
+
},
|
| 270 |
+
"grasp_15": {
|
| 271 |
+
"confidence": 0.9577182531356812,
|
| 272 |
+
"position": [
|
| 273 |
+
-0.07353708408481907,
|
| 274 |
+
0.04419345161295496,
|
| 275 |
+
0.15671850834041834
|
| 276 |
+
],
|
| 277 |
+
"orientation": {
|
| 278 |
+
"w": 0.22173839161967435,
|
| 279 |
+
"xyz": [
|
| 280 |
+
-0.4553250898986802,
|
| 281 |
+
0.7424245844191122,
|
| 282 |
+
-0.4385394904005655
|
| 283 |
+
]
|
| 284 |
+
}
|
| 285 |
+
},
|
| 286 |
+
"grasp_16": {
|
| 287 |
+
"confidence": 0.9576776623725891,
|
| 288 |
+
"position": [
|
| 289 |
+
-0.07830449454195332,
|
| 290 |
+
0.03732638931251131,
|
| 291 |
+
0.1606289902701974
|
| 292 |
+
],
|
| 293 |
+
"orientation": {
|
| 294 |
+
"w": 0.23265106971520916,
|
| 295 |
+
"xyz": [
|
| 296 |
+
-0.49305816582863693,
|
| 297 |
+
0.7242105563306375,
|
| 298 |
+
-0.4222394995370972
|
| 299 |
+
]
|
| 300 |
+
}
|
| 301 |
+
},
|
| 302 |
+
"grasp_17": {
|
| 303 |
+
"confidence": 0.9576044082641602,
|
| 304 |
+
"position": [
|
| 305 |
+
-0.0786152806103928,
|
| 306 |
+
0.04311980804777704,
|
| 307 |
+
0.15129233989864588
|
| 308 |
+
],
|
| 309 |
+
"orientation": {
|
| 310 |
+
"w": 0.4512177398319905,
|
| 311 |
+
"xyz": [
|
| 312 |
+
0.738590012923277,
|
| 313 |
+
0.4375826710792632,
|
| 314 |
+
0.2437391024067353
|
| 315 |
+
]
|
| 316 |
+
}
|
| 317 |
+
},
|
| 318 |
+
"grasp_18": {
|
| 319 |
+
"confidence": 0.9573673605918884,
|
| 320 |
+
"position": [
|
| 321 |
+
-0.04768729470379185,
|
| 322 |
+
-0.028578205645317212,
|
| 323 |
+
0.18935650680214167
|
| 324 |
+
],
|
| 325 |
+
"orientation": {
|
| 326 |
+
"w": 0.2500865812497974,
|
| 327 |
+
"xyz": [
|
| 328 |
+
-0.7936648621099451,
|
| 329 |
+
0.5394428622187294,
|
| 330 |
+
-0.12866307524715642
|
| 331 |
+
]
|
| 332 |
+
}
|
| 333 |
+
},
|
| 334 |
+
"grasp_19": {
|
| 335 |
+
"confidence": 0.9571293592453003,
|
| 336 |
+
"position": [
|
| 337 |
+
-0.046005594354937784,
|
| 338 |
+
-0.018907154590124264,
|
| 339 |
+
0.1910876641049981
|
| 340 |
+
],
|
| 341 |
+
"orientation": {
|
| 342 |
+
"w": 0.1336327920469184,
|
| 343 |
+
"xyz": [
|
| 344 |
+
0.5440131606326818,
|
| 345 |
+
0.7989914649736682,
|
| 346 |
+
0.2186426235833649
|
| 347 |
+
]
|
| 348 |
+
}
|
| 349 |
+
}
|
| 350 |
+
}
|
| 351 |
+
},
|
| 352 |
+
{
|
| 353 |
+
"part_name": "bottle body",
|
| 354 |
+
"mask_color": "Pink",
|
| 355 |
+
"graspable": true,
|
| 356 |
+
"grasp_scenarios": [
|
| 357 |
+
{
|
| 358 |
+
"scenario": "grasp the bottle body to pick up and carry the juice",
|
| 359 |
+
"confidence": 0.97
|
| 360 |
+
},
|
| 361 |
+
{
|
| 362 |
+
"scenario": "hold the bottle body to pour the juice",
|
| 363 |
+
"confidence": 0.94
|
| 364 |
+
},
|
| 365 |
+
{
|
| 366 |
+
"scenario": "grasp the mid body to stabilize the bottle while opening the cap",
|
| 367 |
+
"confidence": 0.91
|
| 368 |
+
}
|
| 369 |
+
],
|
| 370 |
+
"functional_labels": [
|
| 371 |
+
"contain the juice",
|
| 372 |
+
"provide the main grasp surface",
|
| 373 |
+
"support pouring",
|
| 374 |
+
"support labeling and branding"
|
| 375 |
+
],
|
| 376 |
+
"semantic_description": "Large opaque off-white plastic bottle body with a smooth slightly glossy hard surface, rounded contoured shape, printed black text, green banding, and fruit graphics around the middle and front.",
|
| 377 |
+
"id": 8,
|
| 378 |
+
"grasp_group": {
|
| 379 |
+
"grasp_40": {
|
| 380 |
+
"confidence": 0.8259895443916321,
|
| 381 |
+
"position": [
|
| 382 |
+
0.007073056141962297,
|
| 383 |
+
-0.10859928527497686,
|
| 384 |
+
0.08963672909885645
|
| 385 |
+
],
|
| 386 |
+
"orientation": {
|
| 387 |
+
"w": 0.6879307641664142,
|
| 388 |
+
"xyz": [
|
| 389 |
+
-0.7246962033820552,
|
| 390 |
+
-0.033951125298426255,
|
| 391 |
+
0.020346931169565544
|
| 392 |
+
]
|
| 393 |
+
}
|
| 394 |
+
},
|
| 395 |
+
"grasp_41": {
|
| 396 |
+
"confidence": 0.8036561608314514,
|
| 397 |
+
"position": [
|
| 398 |
+
0.0865233365475433,
|
| 399 |
+
-0.06389145055436529,
|
| 400 |
+
0.08658226672559977
|
| 401 |
+
],
|
| 402 |
+
"orientation": {
|
| 403 |
+
"w": 0.6190259063665382,
|
| 404 |
+
"xyz": [
|
| 405 |
+
-0.6489628381007339,
|
| 406 |
+
-0.31937897185089226,
|
| 407 |
+
0.3060248917176407
|
| 408 |
+
]
|
| 409 |
+
}
|
| 410 |
+
},
|
| 411 |
+
"grasp_42": {
|
| 412 |
+
"confidence": 0.7989435791969299,
|
| 413 |
+
"position": [
|
| 414 |
+
0.0939863149105804,
|
| 415 |
+
-0.04891951257013716,
|
| 416 |
+
0.08652318362146616
|
| 417 |
+
],
|
| 418 |
+
"orientation": {
|
| 419 |
+
"w": 0.3701678323906109,
|
| 420 |
+
"xyz": [
|
| 421 |
+
0.353284615712914,
|
| 422 |
+
-0.6238484827208111,
|
| 423 |
+
-0.5907442989744016
|
| 424 |
+
]
|
| 425 |
+
}
|
| 426 |
+
},
|
| 427 |
+
"grasp_43": {
|
| 428 |
+
"confidence": 0.7858973145484924,
|
| 429 |
+
"position": [
|
| 430 |
+
-0.06624399386055302,
|
| 431 |
+
-0.08586775758885778,
|
| 432 |
+
0.08827365282922983
|
| 433 |
+
],
|
| 434 |
+
"orientation": {
|
| 435 |
+
"w": 0.2316673356740249,
|
| 436 |
+
"xyz": [
|
| 437 |
+
0.23231360145013316,
|
| 438 |
+
0.6798445886384317,
|
| 439 |
+
0.6558749663327675
|
| 440 |
+
]
|
| 441 |
+
}
|
| 442 |
+
},
|
| 443 |
+
"grasp_44": {
|
| 444 |
+
"confidence": 0.7780494093894958,
|
| 445 |
+
"position": [
|
| 446 |
+
-0.0932659011305077,
|
| 447 |
+
0.05529622113681398,
|
| 448 |
+
0.0827481159940362
|
| 449 |
+
],
|
| 450 |
+
"orientation": {
|
| 451 |
+
"w": 0.6170042341577445,
|
| 452 |
+
"xyz": [
|
| 453 |
+
0.6021074010917695,
|
| 454 |
+
0.3693977361632277,
|
| 455 |
+
0.34686851269524627
|
| 456 |
+
]
|
| 457 |
+
}
|
| 458 |
+
},
|
| 459 |
+
"grasp_45": {
|
| 460 |
+
"confidence": 0.7735110521316528,
|
| 461 |
+
"position": [
|
| 462 |
+
0.10032626726024318,
|
| 463 |
+
-0.026548239082330838,
|
| 464 |
+
0.08542487118393183
|
| 465 |
+
],
|
| 466 |
+
"orientation": {
|
| 467 |
+
"w": 0.4324199390287559,
|
| 468 |
+
"xyz": [
|
| 469 |
+
0.4305950321972927,
|
| 470 |
+
-0.5652831219219719,
|
| 471 |
+
-0.5550278431281886
|
| 472 |
+
]
|
| 473 |
+
}
|
| 474 |
+
},
|
| 475 |
+
"grasp_46": {
|
| 476 |
+
"confidence": 0.7729163765907288,
|
| 477 |
+
"position": [
|
| 478 |
+
-0.09919733814604115,
|
| 479 |
+
-0.04392491528415121,
|
| 480 |
+
0.07948699686676264
|
| 481 |
+
],
|
| 482 |
+
"orientation": {
|
| 483 |
+
"w": 0.4034103101361874,
|
| 484 |
+
"xyz": [
|
| 485 |
+
0.38243410317957954,
|
| 486 |
+
0.5798213955883623,
|
| 487 |
+
0.5956604969435355
|
| 488 |
+
]
|
| 489 |
+
}
|
| 490 |
+
},
|
| 491 |
+
"grasp_47": {
|
| 492 |
+
"confidence": 0.7692098021507263,
|
| 493 |
+
"position": [
|
| 494 |
+
0.06856600679748226,
|
| 495 |
+
-0.078288229793543,
|
| 496 |
+
0.08026755694299936
|
| 497 |
+
],
|
| 498 |
+
"orientation": {
|
| 499 |
+
"w": 0.2539585853736171,
|
| 500 |
+
"xyz": [
|
| 501 |
+
0.22937328393026896,
|
| 502 |
+
-0.6558700655163123,
|
| 503 |
+
-0.6728501992967705
|
| 504 |
+
]
|
| 505 |
+
}
|
| 506 |
+
},
|
| 507 |
+
"grasp_48": {
|
| 508 |
+
"confidence": 0.7654919028282166,
|
| 509 |
+
"position": [
|
| 510 |
+
-0.10967269800312351,
|
| 511 |
+
-0.00607763059088029,
|
| 512 |
+
0.0779081517830491
|
| 513 |
+
],
|
| 514 |
+
"orientation": {
|
| 515 |
+
"w": 0.48454116103743844,
|
| 516 |
+
"xyz": [
|
| 517 |
+
0.4777558121605263,
|
| 518 |
+
0.5196340539742367,
|
| 519 |
+
0.5166717499124829
|
| 520 |
+
]
|
| 521 |
+
}
|
| 522 |
+
},
|
| 523 |
+
"grasp_49": {
|
| 524 |
+
"confidence": 0.7531688809394836,
|
| 525 |
+
"position": [
|
| 526 |
+
0.007484473011572845,
|
| 527 |
+
-0.10667857775115408,
|
| 528 |
+
0.08418318722397089
|
| 529 |
+
],
|
| 530 |
+
"orientation": {
|
| 531 |
+
"w": 0.6996635379985419,
|
| 532 |
+
"xyz": [
|
| 533 |
+
-0.7132740769470749,
|
| 534 |
+
-0.03279697687352323,
|
| 535 |
+
0.02520680579960408
|
| 536 |
+
]
|
| 537 |
+
}
|
| 538 |
+
},
|
| 539 |
+
"grasp_50": {
|
| 540 |
+
"confidence": 0.7513074278831482,
|
| 541 |
+
"position": [
|
| 542 |
+
0.07019562758796383,
|
| 543 |
+
-0.07682574042701162,
|
| 544 |
+
0.08127420488744974
|
| 545 |
+
],
|
| 546 |
+
"orientation": {
|
| 547 |
+
"w": 0.2584564816148939,
|
| 548 |
+
"xyz": [
|
| 549 |
+
0.24599450241413803,
|
| 550 |
+
-0.6604212822368841,
|
| 551 |
+
-0.6607046858179989
|
| 552 |
+
]
|
| 553 |
+
}
|
| 554 |
+
},
|
| 555 |
+
"grasp_51": {
|
| 556 |
+
"confidence": 0.7469993233680725,
|
| 557 |
+
"position": [
|
| 558 |
+
0.07996679581992794,
|
| 559 |
+
0.07393138608313166,
|
| 560 |
+
0.08871422801166773
|
| 561 |
+
],
|
| 562 |
+
"orientation": {
|
| 563 |
+
"w": 0.6319390668053422,
|
| 564 |
+
"xyz": [
|
| 565 |
+
0.6580723703322732,
|
| 566 |
+
-0.2951185058527225,
|
| 567 |
+
-0.28372317274715647
|
| 568 |
+
]
|
| 569 |
+
}
|
| 570 |
+
},
|
| 571 |
+
"grasp_52": {
|
| 572 |
+
"confidence": 0.7416707873344421,
|
| 573 |
+
"position": [
|
| 574 |
+
0.04838964082591701,
|
| 575 |
+
-0.10002605864428915,
|
| 576 |
+
0.07772898767143488
|
| 577 |
+
],
|
| 578 |
+
"orientation": {
|
| 579 |
+
"w": 0.1694725893204195,
|
| 580 |
+
"xyz": [
|
| 581 |
+
0.15622692569676447,
|
| 582 |
+
-0.6951456554968812,
|
| 583 |
+
-0.6809146105057384
|
| 584 |
+
]
|
| 585 |
+
}
|
| 586 |
+
},
|
| 587 |
+
"grasp_53": {
|
| 588 |
+
"confidence": 0.7362734079360962,
|
| 589 |
+
"position": [
|
| 590 |
+
0.03621844686858822,
|
| 591 |
+
-0.0973907584848348,
|
| 592 |
+
0.08281308505684137
|
| 593 |
+
],
|
| 594 |
+
"orientation": {
|
| 595 |
+
"w": 0.12123758311972904,
|
| 596 |
+
"xyz": [
|
| 597 |
+
0.12904248457873055,
|
| 598 |
+
-0.6867279059872388,
|
| 599 |
+
-0.7050207576741387
|
| 600 |
+
]
|
| 601 |
+
}
|
| 602 |
+
},
|
| 603 |
+
"grasp_54": {
|
| 604 |
+
"confidence": 0.7361924052238464,
|
| 605 |
+
"position": [
|
| 606 |
+
-0.08748531602032017,
|
| 607 |
+
0.05165359503007494,
|
| 608 |
+
0.08984217140823603
|
| 609 |
+
],
|
| 610 |
+
"orientation": {
|
| 611 |
+
"w": 0.6201222323829283,
|
| 612 |
+
"xyz": [
|
| 613 |
+
0.6041996369336917,
|
| 614 |
+
0.3495418382468639,
|
| 615 |
+
0.3580666403738438
|
| 616 |
+
]
|
| 617 |
+
}
|
| 618 |
+
},
|
| 619 |
+
"grasp_55": {
|
| 620 |
+
"confidence": 0.7113582491874695,
|
| 621 |
+
"position": [
|
| 622 |
+
0.05343219377391506,
|
| 623 |
+
-0.08635229864739813,
|
| 624 |
+
0.08503832016140223
|
| 625 |
+
],
|
| 626 |
+
"orientation": {
|
| 627 |
+
"w": 0.676806471661907,
|
| 628 |
+
"xyz": [
|
| 629 |
+
-0.6827326532251182,
|
| 630 |
+
-0.1901526576931154,
|
| 631 |
+
0.19912581678174143
|
| 632 |
+
]
|
| 633 |
+
}
|
| 634 |
+
},
|
| 635 |
+
"grasp_56": {
|
| 636 |
+
"confidence": 0.7077124714851379,
|
| 637 |
+
"position": [
|
| 638 |
+
-0.046189791333745234,
|
| 639 |
+
-0.09340234348201193,
|
| 640 |
+
0.082391575910151
|
| 641 |
+
],
|
| 642 |
+
"orientation": {
|
| 643 |
+
"w": 0.16724005601341596,
|
| 644 |
+
"xyz": [
|
| 645 |
+
0.17037679188460722,
|
| 646 |
+
0.6762445626799969,
|
| 647 |
+
0.6969187929002053
|
| 648 |
+
]
|
| 649 |
+
}
|
| 650 |
+
},
|
| 651 |
+
"grasp_57": {
|
| 652 |
+
"confidence": 0.7047185301780701,
|
| 653 |
+
"position": [
|
| 654 |
+
0.06798440702550579,
|
| 655 |
+
-0.07887438187026419,
|
| 656 |
+
0.08410552237182856
|
| 657 |
+
],
|
| 658 |
+
"orientation": {
|
| 659 |
+
"w": 0.6439126837902135,
|
| 660 |
+
"xyz": [
|
| 661 |
+
-0.6816160730021118,
|
| 662 |
+
-0.24738921933564162,
|
| 663 |
+
0.2440790012183887
|
| 664 |
+
]
|
| 665 |
+
}
|
| 666 |
+
},
|
| 667 |
+
"grasp_58": {
|
| 668 |
+
"confidence": 0.7004976272583008,
|
| 669 |
+
"position": [
|
| 670 |
+
0.06275900937907863,
|
| 671 |
+
-0.08060036101960577,
|
| 672 |
+
0.08664360735565424
|
| 673 |
+
],
|
| 674 |
+
"orientation": {
|
| 675 |
+
"w": 0.6600298862030383,
|
| 676 |
+
"xyz": [
|
| 677 |
+
-0.6730032001291433,
|
| 678 |
+
-0.234191141109933,
|
| 679 |
+
0.2378691895987459
|
| 680 |
+
]
|
| 681 |
+
}
|
| 682 |
+
},
|
| 683 |
+
"grasp_59": {
|
| 684 |
+
"confidence": 0.6896792054176331,
|
| 685 |
+
"position": [
|
| 686 |
+
-0.09688941649801563,
|
| 687 |
+
0.03694443902350031,
|
| 688 |
+
0.08212703559547663
|
| 689 |
+
],
|
| 690 |
+
"orientation": {
|
| 691 |
+
"w": 0.3871127101876762,
|
| 692 |
+
"xyz": [
|
| 693 |
+
-0.4074704618661994,
|
| 694 |
+
0.569651223146691,
|
| 695 |
+
-0.5996741250755929
|
| 696 |
+
]
|
| 697 |
+
}
|
| 698 |
+
}
|
| 699 |
+
}
|
| 700 |
+
},
|
| 701 |
+
{
|
| 702 |
+
"part_name": "base of bottle",
|
| 703 |
+
"mask_color": "Cyan",
|
| 704 |
+
"graspable": true,
|
| 705 |
+
"grasp_scenarios": [
|
| 706 |
+
{
|
| 707 |
+
"scenario": "grasp the lower base to lift the bottle from a surface",
|
| 708 |
+
"confidence": 0.68
|
| 709 |
+
},
|
| 710 |
+
{
|
| 711 |
+
"scenario": "hold the base to stabilize the bottle during placement",
|
| 712 |
+
"confidence": 0.72
|
| 713 |
+
}
|
| 714 |
+
],
|
| 715 |
+
"functional_labels": [
|
| 716 |
+
"support upright standing",
|
| 717 |
+
"distribute contact on surfaces",
|
| 718 |
+
"stabilize placement",
|
| 719 |
+
"protect the container bottom"
|
| 720 |
+
],
|
| 721 |
+
"semantic_description": "Rounded off-white plastic bottom section with a smooth slightly glossy hard surface, broad circular footprint, and thicker lower profile at the base of the bottle.",
|
| 722 |
+
"id": 6,
|
| 723 |
+
"grasp_group": {
|
| 724 |
+
"grasp_22": {
|
| 725 |
+
"confidence": 0.48989835381507874,
|
| 726 |
+
"position": [
|
| 727 |
+
-0.10953580848581623,
|
| 728 |
+
0.021162432938581333,
|
| 729 |
+
-0.0775088807567954
|
| 730 |
+
],
|
| 731 |
+
"orientation": {
|
| 732 |
+
"w": 0.4618122315423013,
|
| 733 |
+
"xyz": [
|
| 734 |
+
-0.4311761376492909,
|
| 735 |
+
0.5305232138436475,
|
| 736 |
+
-0.5651209788114107
|
| 737 |
+
]
|
| 738 |
+
}
|
| 739 |
+
},
|
| 740 |
+
"grasp_32": {
|
| 741 |
+
"confidence": 0.44059625267982483,
|
| 742 |
+
"position": [
|
| 743 |
+
-0.1104027356923325,
|
| 744 |
+
0.010663796536391601,
|
| 745 |
+
-0.0697135766968131
|
| 746 |
+
],
|
| 747 |
+
"orientation": {
|
| 748 |
+
"w": 0.4822291732672438,
|
| 749 |
+
"xyz": [
|
| 750 |
+
-0.46513686798779,
|
| 751 |
+
0.5153470779933246,
|
| 752 |
+
-0.5343408160455664
|
| 753 |
+
]
|
| 754 |
+
}
|
| 755 |
+
},
|
| 756 |
+
"grasp_38": {
|
| 757 |
+
"confidence": 0.41715207695961,
|
| 758 |
+
"position": [
|
| 759 |
+
-0.11338211856491398,
|
| 760 |
+
-0.03125855201506056,
|
| 761 |
+
-0.06053069140762091
|
| 762 |
+
],
|
| 763 |
+
"orientation": {
|
| 764 |
+
"w": 0.43483018136001866,
|
| 765 |
+
"xyz": [
|
| 766 |
+
0.4403240694346138,
|
| 767 |
+
0.5590512054608592,
|
| 768 |
+
0.5518144406661671
|
| 769 |
+
]
|
| 770 |
+
}
|
| 771 |
+
}
|
| 772 |
+
}
|
| 773 |
+
}
|
| 774 |
+
],
|
| 775 |
+
"quality_check": {
|
| 776 |
+
"success": true,
|
| 777 |
+
"message": "YES"
|
| 778 |
+
}
|
| 779 |
+
}
|
dataset/food/beverages/863c528c27c8532491bd61dc3954cccb/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:410aacfc65bbb8617f81c4a8f87b632006f6db95f9997b2c41e86887a5c87859
|
| 3 |
+
size 3781576
|
dataset/food/beverages/863c528c27c8532491bd61dc3954cccb/juice_004.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>
|