xinjjj commited on
Commit
cbb5d4d
·
verified ·
1 Parent(s): 3e13fca

Add asset food/beverages/971432c3582d56cbabadeb22ace92df5

Browse files
.gitattributes CHANGED
@@ -6731,3 +6731,4 @@ dataset/food/beverages/8abd7ce3480e52f5b0e56f48a792dc31/affordance/mesh_part_seg
6731
  dataset/food/beverages/8c46285362dd552f81f7bc31f93c62d1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6732
  dataset/food/beverages/9027eca237845f2f83266aad3ec23ccc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6733
  dataset/food/beverages/9044112657245b92924b802a8f6d737b/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
6732
  dataset/food/beverages/9027eca237845f2f83266aad3ec23ccc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6733
  dataset/food/beverages/9044112657245b92924b802a8f6d737b/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
dataset/food/beverages/971432c3582d56cbabadeb22ace92df5/affordance/affordance_annot.json ADDED
@@ -0,0 +1,703 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "bottle body",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the main body to pick up and carry the bottle",
10
+ "confidence": 0.94
11
+ },
12
+ {
13
+ "scenario": "hold the body to stabilize the bottle while unscrewing the cap",
14
+ "confidence": 0.91
15
+ },
16
+ {
17
+ "scenario": "grasp the body to pour or reorient the bottle",
18
+ "confidence": 0.88
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "contain the beverage",
23
+ "main grasp surface",
24
+ "support pouring",
25
+ "provide structural shell"
26
+ ],
27
+ "semantic_description": "Large bulbous pale green plastic bottle body with a glossy smooth finish, rounded coconut-like shape, and printed coconut-themed graphics over much of the lower half.",
28
+ "id": 0,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9489772915840149,
32
+ "position": [
33
+ 0.09131893247831613,
34
+ 0.0556030054576695,
35
+ 0.05720185674726963
36
+ ],
37
+ "orientation": {
38
+ "w": 0.6112089287612402,
39
+ "xyz": [
40
+ 0.6237440920516606,
41
+ -0.3415853587782739,
42
+ -0.3473994756782229
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.9364832639694214,
48
+ "position": [
49
+ -0.032182357157580554,
50
+ 0.10087296413257718,
51
+ 0.05677630193531513
52
+ ],
53
+ "orientation": {
54
+ "w": 0.6924128590012567,
55
+ "xyz": [
56
+ 0.7035580907144426,
57
+ 0.10302036271244619,
58
+ 0.12229983870206068
59
+ ]
60
+ }
61
+ },
62
+ "grasp_2": {
63
+ "confidence": 0.9364123940467834,
64
+ "position": [
65
+ -0.04568467929493636,
66
+ -0.09158099396154284,
67
+ 0.05937008745968342
68
+ ],
69
+ "orientation": {
70
+ "w": 0.15613625399050232,
71
+ "xyz": [
72
+ 0.17234645852348487,
73
+ 0.7050996369318134,
74
+ 0.6698900435316615
75
+ ]
76
+ }
77
+ },
78
+ "grasp_3": {
79
+ "confidence": 0.933759331703186,
80
+ "position": [
81
+ 0.07909165055025369,
82
+ 0.06739137368276715,
83
+ 0.05931046046316624
84
+ ],
85
+ "orientation": {
86
+ "w": 0.6297400289453098,
87
+ "xyz": [
88
+ 0.654153131705028,
89
+ -0.29588822095668543,
90
+ -0.2965827657224072
91
+ ]
92
+ }
93
+ },
94
+ "grasp_4": {
95
+ "confidence": 0.9297824501991272,
96
+ "position": [
97
+ 0.096436497871764,
98
+ -0.04662849707528949,
99
+ 0.06091899611055851
100
+ ],
101
+ "orientation": {
102
+ "w": 0.5818237091450027,
103
+ "xyz": [
104
+ -0.6237297712377076,
105
+ -0.38180789236691137,
106
+ 0.35590037549129677
107
+ ]
108
+ }
109
+ },
110
+ "grasp_5": {
111
+ "confidence": 0.927935779094696,
112
+ "position": [
113
+ 0.05305257916916162,
114
+ 0.08817406790331006,
115
+ 0.05586379952728748
116
+ ],
117
+ "orientation": {
118
+ "w": 0.20241481895897892,
119
+ "xyz": [
120
+ -0.19488571873510513,
121
+ -0.6759152221846575,
122
+ 0.6813122706351111
123
+ ]
124
+ }
125
+ },
126
+ "grasp_6": {
127
+ "confidence": 0.917785108089447,
128
+ "position": [
129
+ 0.09985571831930429,
130
+ -0.027474049013108015,
131
+ 0.05441919155418873
132
+ ],
133
+ "orientation": {
134
+ "w": 0.42792795557065144,
135
+ "xyz": [
136
+ 0.42480418773547013,
137
+ -0.5669154530732141,
138
+ -0.5612717131571152
139
+ ]
140
+ }
141
+ },
142
+ "grasp_7": {
143
+ "confidence": 0.9158338904380798,
144
+ "position": [
145
+ -0.0026876701740548015,
146
+ 0.10380282299593091,
147
+ 0.055430928245186806
148
+ ],
149
+ "orientation": {
150
+ "w": 0.7092329255606483,
151
+ "xyz": [
152
+ 0.7042708466422639,
153
+ 0.02664923628364635,
154
+ 0.016764548188709302
155
+ ]
156
+ }
157
+ },
158
+ "grasp_8": {
159
+ "confidence": 0.914986789226532,
160
+ "position": [
161
+ 0.03985068679321557,
162
+ 0.09693766431882977,
163
+ 0.059501150622963905
164
+ ],
165
+ "orientation": {
166
+ "w": 0.1478952966572247,
167
+ "xyz": [
168
+ -0.13019837397378994,
169
+ -0.7161945050495538,
170
+ 0.6695078756654606
171
+ ]
172
+ }
173
+ },
174
+ "grasp_10": {
175
+ "confidence": 0.9083602428436279,
176
+ "position": [
177
+ 0.0892157080816105,
178
+ 0.06047735409811139,
179
+ 0.05383294261991978
180
+ ],
181
+ "orientation": {
182
+ "w": 0.6086688865535547,
183
+ "xyz": [
184
+ 0.6415956795771514,
185
+ -0.3303354128702273,
186
+ -0.3297812691670734
187
+ ]
188
+ }
189
+ },
190
+ "grasp_11": {
191
+ "confidence": 0.9078593850135803,
192
+ "position": [
193
+ 0.08619623363483697,
194
+ 0.05379921616986394,
195
+ 0.05946599133312702
196
+ ],
197
+ "orientation": {
198
+ "w": 0.604737272686069,
199
+ "xyz": [
200
+ 0.6321567927493689,
201
+ -0.34126954530965414,
202
+ -0.34381058425997996
203
+ ]
204
+ }
205
+ },
206
+ "grasp_12": {
207
+ "confidence": 0.9069108366966248,
208
+ "position": [
209
+ 0.07628526270855218,
210
+ -0.06834693206474185,
211
+ 0.055821942165493965
212
+ ],
213
+ "orientation": {
214
+ "w": 0.641699121425698,
215
+ "xyz": [
216
+ -0.6573976552423316,
217
+ -0.2755095692760752,
218
+ 0.2830989891905017
219
+ ]
220
+ }
221
+ },
222
+ "grasp_13": {
223
+ "confidence": 0.906757652759552,
224
+ "position": [
225
+ 0.029770090361125767,
226
+ -0.08634374244138598,
227
+ 0.09960134513676167
228
+ ],
229
+ "orientation": {
230
+ "w": 0.507511463569651,
231
+ "xyz": [
232
+ -0.8493418468863011,
233
+ -0.12309577743549605,
234
+ 0.0767982490080893
235
+ ]
236
+ }
237
+ },
238
+ "grasp_14": {
239
+ "confidence": 0.9064551591873169,
240
+ "position": [
241
+ 0.10269662470091134,
242
+ -0.020075626205652952,
243
+ 0.05754098482429981
244
+ ],
245
+ "orientation": {
246
+ "w": 0.5455519357558266,
247
+ "xyz": [
248
+ -0.5543690185133382,
249
+ -0.4604503017172299,
250
+ 0.42782425872563695
251
+ ]
252
+ }
253
+ },
254
+ "grasp_15": {
255
+ "confidence": 0.9064440131187439,
256
+ "position": [
257
+ 0.04106025502551347,
258
+ 0.09603702323511243,
259
+ 0.05687538720667362
260
+ ],
261
+ "orientation": {
262
+ "w": 0.6887224468253959,
263
+ "xyz": [
264
+ 0.697589885725968,
265
+ -0.14452769013688005,
266
+ -0.13469034618475306
267
+ ]
268
+ }
269
+ },
270
+ "grasp_16": {
271
+ "confidence": 0.9049167633056641,
272
+ "position": [
273
+ -0.03178816183935851,
274
+ 0.09163114475086331,
275
+ 0.08761582709848881
276
+ ],
277
+ "orientation": {
278
+ "w": 0.07163256611250352,
279
+ "xyz": [
280
+ -0.1839135504882312,
281
+ 0.8011959330262298,
282
+ -0.5649156205321105
283
+ ]
284
+ }
285
+ },
286
+ "grasp_17": {
287
+ "confidence": 0.9045311212539673,
288
+ "position": [
289
+ -0.02530516020487994,
290
+ 0.10316145466640592,
291
+ 0.053091662004590034
292
+ ],
293
+ "orientation": {
294
+ "w": 0.6951381875993969,
295
+ "xyz": [
296
+ 0.7013959446169559,
297
+ 0.1247503758327303,
298
+ 0.09624953374176169
299
+ ]
300
+ }
301
+ },
302
+ "grasp_18": {
303
+ "confidence": 0.9042023420333862,
304
+ "position": [
305
+ 0.004345606197603047,
306
+ -0.10029747290536761,
307
+ 0.05652974732220173
308
+ ],
309
+ "orientation": {
310
+ "w": 0.7073726297644666,
311
+ "xyz": [
312
+ -0.7066993928906159,
313
+ -0.013449031345772022,
314
+ 0.004365123594811608
315
+ ]
316
+ }
317
+ },
318
+ "grasp_19": {
319
+ "confidence": 0.9025006294250488,
320
+ "position": [
321
+ 0.1031062874244526,
322
+ -0.001981166744371876,
323
+ 0.059436047449707985
324
+ ],
325
+ "orientation": {
326
+ "w": 0.500259415521972,
327
+ "xyz": [
328
+ 0.5003237069078706,
329
+ -0.5180308291963303,
330
+ -0.48068780459851956
331
+ ]
332
+ }
333
+ }
334
+ }
335
+ },
336
+ {
337
+ "part_name": "front label sticker",
338
+ "mask_color": "Blue",
339
+ "graspable": false,
340
+ "grasp_scenarios": [],
341
+ "functional_labels": [
342
+ "display branding",
343
+ "identify product",
344
+ "provide visual decoration"
345
+ ],
346
+ "semantic_description": "Small oval white label sticker attached to the side of the bottle, printed with green text and graphics, smooth, thin, and flush against the body.",
347
+ "id": 2,
348
+ "grasp_group": {}
349
+ },
350
+ {
351
+ "part_name": "cap",
352
+ "mask_color": "Yellow",
353
+ "graspable": true,
354
+ "grasp_scenarios": [
355
+ {
356
+ "scenario": "grasp the cap to unscrew and open the bottle",
357
+ "confidence": 0.95
358
+ },
359
+ {
360
+ "scenario": "grasp the cap to reclose the bottle by twisting",
361
+ "confidence": 0.93
362
+ },
363
+ {
364
+ "scenario": "use a light cap grasp to steady the top during manipulation",
365
+ "confidence": 0.46
366
+ }
367
+ ],
368
+ "functional_labels": [
369
+ "seal the bottle opening",
370
+ "enable opening by twisting",
371
+ "enable reclosing",
372
+ "protect the contents"
373
+ ],
374
+ "semantic_description": "Small light green plastic screw cap with a matte-to-satin finish, hard ribbed sides for traction, and a flat circular top at the bottle mouth.",
375
+ "id": 3,
376
+ "grasp_group": {
377
+ "grasp_20": {
378
+ "confidence": 0.9035429954528809,
379
+ "position": [
380
+ 0.010500543867237866,
381
+ -0.10021174652501941,
382
+ 0.08987824060022831
383
+ ],
384
+ "orientation": {
385
+ "w": 0.6906563435472889,
386
+ "xyz": [
387
+ -0.7217527694102517,
388
+ -0.03298432688105757,
389
+ 0.03128560606293134
390
+ ]
391
+ }
392
+ },
393
+ "grasp_21": {
394
+ "confidence": 0.8929947018623352,
395
+ "position": [
396
+ -0.05286199494730681,
397
+ -0.08492219401523471,
398
+ 0.08700196631252766
399
+ ],
400
+ "orientation": {
401
+ "w": 0.18460714828273495,
402
+ "xyz": [
403
+ 0.2039594945560463,
404
+ 0.6849299426998898,
405
+ 0.674678959933155
406
+ ]
407
+ }
408
+ },
409
+ "grasp_22": {
410
+ "confidence": 0.8844683170318604,
411
+ "position": [
412
+ 0.08711175352800637,
413
+ 0.05240744771435857,
414
+ 0.09039695747196674
415
+ ],
416
+ "orientation": {
417
+ "w": 0.5904871514702398,
418
+ "xyz": [
419
+ 0.6434247841057849,
420
+ -0.3346891779599267,
421
+ -0.35399523344742223
422
+ ]
423
+ }
424
+ },
425
+ "grasp_23": {
426
+ "confidence": 0.8383981585502625,
427
+ "position": [
428
+ 0.05482454702723771,
429
+ 0.0873829503543675,
430
+ 0.08496214635670185
431
+ ],
432
+ "orientation": {
433
+ "w": 0.6746907398414157,
434
+ "xyz": [
435
+ 0.6794511701331305,
436
+ -0.1982398852827345,
437
+ -0.20937874978146845
438
+ ]
439
+ }
440
+ },
441
+ "grasp_24": {
442
+ "confidence": 0.8905042409896851,
443
+ "position": [
444
+ 0.10379575670231134,
445
+ -0.0034258421510457993,
446
+ 0.09167583473026752
447
+ ],
448
+ "orientation": {
449
+ "w": 0.47248898997362204,
450
+ "xyz": [
451
+ 0.5005344930473581,
452
+ -0.5279685447021326,
453
+ -0.49746215074982564
454
+ ]
455
+ }
456
+ },
457
+ "grasp_25": {
458
+ "confidence": 0.8815053105354309,
459
+ "position": [
460
+ 0.03539660677779466,
461
+ -0.09407241595909,
462
+ 0.08352150954306126
463
+ ],
464
+ "orientation": {
465
+ "w": 0.1101486490120977,
466
+ "xyz": [
467
+ 0.11732925950821281,
468
+ -0.6971835000870251,
469
+ -0.6985959398611404
470
+ ]
471
+ }
472
+ },
473
+ "grasp_26": {
474
+ "confidence": 0.8236183524131775,
475
+ "position": [
476
+ 0.025150490109808743,
477
+ -0.10080670518800616,
478
+ 0.09612164832651615
479
+ ],
480
+ "orientation": {
481
+ "w": 0.04601719324913749,
482
+ "xyz": [
483
+ 0.12162785762335065,
484
+ -0.7352255595056478,
485
+ -0.6652311318820197
486
+ ]
487
+ }
488
+ },
489
+ "grasp_27": {
490
+ "confidence": 0.8559556007385254,
491
+ "position": [
492
+ 0.06039010838139802,
493
+ 0.08118639187887311,
494
+ 0.09567433036863804
495
+ ],
496
+ "orientation": {
497
+ "w": 0.6286592758570514,
498
+ "xyz": [
499
+ 0.7112917232929321,
500
+ -0.22590671836479237,
501
+ -0.21867270943469147
502
+ ]
503
+ }
504
+ },
505
+ "grasp_28": {
506
+ "confidence": 0.9385960102081299,
507
+ "position": [
508
+ 0.08554956794250757,
509
+ -0.048068716656416655,
510
+ 0.10543162561953068
511
+ ],
512
+ "orientation": {
513
+ "w": 0.5331014194253076,
514
+ "xyz": [
515
+ -0.6837695001758338,
516
+ -0.37909125535567156,
517
+ 0.3233449664814243
518
+ ]
519
+ }
520
+ },
521
+ "grasp_29": {
522
+ "confidence": 0.8945369720458984,
523
+ "position": [
524
+ 0.062317089294083416,
525
+ -0.08172905398532748,
526
+ 0.0978620145469904
527
+ ],
528
+ "orientation": {
529
+ "w": 0.6298309473740333,
530
+ "xyz": [
531
+ -0.7114453755971174,
532
+ -0.23152912645104906,
533
+ 0.20869288170950703
534
+ ]
535
+ }
536
+ },
537
+ "grasp_30": {
538
+ "confidence": 0.8609545230865479,
539
+ "position": [
540
+ 0.09615934372413903,
541
+ 0.023972020018845797,
542
+ 0.09772231616079807
543
+ ],
544
+ "orientation": {
545
+ "w": 0.40513525970978864,
546
+ "xyz": [
547
+ -0.45101533038796476,
548
+ -0.5963643184220874,
549
+ 0.5261180407549962
550
+ ]
551
+ }
552
+ },
553
+ "grasp_31": {
554
+ "confidence": 0.9447817802429199,
555
+ "position": [
556
+ -0.042841198737733066,
557
+ 0.06611195998266339,
558
+ 0.1378950122743845
559
+ ],
560
+ "orientation": {
561
+ "w": 0.13361128842270018,
562
+ "xyz": [
563
+ -0.25795777248262014,
564
+ 0.8474814508649083,
565
+ -0.444275817102103
566
+ ]
567
+ }
568
+ },
569
+ "grasp_32": {
570
+ "confidence": 0.9441365599632263,
571
+ "position": [
572
+ 0.09046568453777581,
573
+ -0.04170871106907725,
574
+ 0.09509229846298695
575
+ ],
576
+ "orientation": {
577
+ "w": 0.5741233266352986,
578
+ "xyz": [
579
+ -0.6279962034344363,
580
+ -0.4068353904496613,
581
+ 0.33239756220950856
582
+ ]
583
+ }
584
+ },
585
+ "grasp_33": {
586
+ "confidence": 0.9289253950119019,
587
+ "position": [
588
+ -0.07167284458409995,
589
+ -0.039249471854418516,
590
+ 0.13192189671099186
591
+ ],
592
+ "orientation": {
593
+ "w": 0.23069588388879309,
594
+ "xyz": [
595
+ 0.47531759365792353,
596
+ 0.7249422453278995,
597
+ 0.4419404204810346
598
+ ]
599
+ }
600
+ },
601
+ "grasp_34": {
602
+ "confidence": 0.9152817726135254,
603
+ "position": [
604
+ 0.08446170121897012,
605
+ -0.02945421962067485,
606
+ 0.13100201822817326
607
+ ],
608
+ "orientation": {
609
+ "w": 0.27127896787696354,
610
+ "xyz": [
611
+ 0.5303180319660973,
612
+ -0.6828250383719513,
613
+ -0.4229899213120311
614
+ ]
615
+ }
616
+ },
617
+ "grasp_35": {
618
+ "confidence": 0.8905832171440125,
619
+ "position": [
620
+ 0.033366714720614254,
621
+ 0.093772501219064,
622
+ 0.09610764868557453
623
+ ],
624
+ "orientation": {
625
+ "w": 0.6474427489053863,
626
+ "xyz": [
627
+ 0.7466921570007413,
628
+ -0.0804568465980926,
629
+ -0.12959708869765676
630
+ ]
631
+ }
632
+ },
633
+ "grasp_36": {
634
+ "confidence": 0.8740639686584473,
635
+ "position": [
636
+ 0.0899628970073536,
637
+ 0.04630060913041234,
638
+ 0.08593598194420338
639
+ ],
640
+ "orientation": {
641
+ "w": 0.3339786561737098,
642
+ "xyz": [
643
+ -0.39540568959708583,
644
+ -0.6010372336113876,
645
+ 0.6089883756422833
646
+ ]
647
+ }
648
+ },
649
+ "grasp_37": {
650
+ "confidence": 0.8592841029167175,
651
+ "position": [
652
+ 0.020843419362790883,
653
+ -0.09561180276796222,
654
+ 0.08213110454380512
655
+ ],
656
+ "orientation": {
657
+ "w": 0.09206337218457555,
658
+ "xyz": [
659
+ 0.04876866700262432,
660
+ -0.6995324717038414,
661
+ -0.7069655392257151
662
+ ]
663
+ }
664
+ },
665
+ "grasp_38": {
666
+ "confidence": 0.8277145624160767,
667
+ "position": [
668
+ -0.008167672785930336,
669
+ -0.09820643765851855,
670
+ 0.08956398256123066
671
+ ],
672
+ "orientation": {
673
+ "w": 0.02731647001664904,
674
+ "xyz": [
675
+ -0.1144489529831488,
676
+ -0.721907254962013,
677
+ -0.6819128704314806
678
+ ]
679
+ }
680
+ }
681
+ }
682
+ },
683
+ {
684
+ "part_name": "tamper ring",
685
+ "mask_color": "Orange",
686
+ "graspable": false,
687
+ "grasp_scenarios": [],
688
+ "functional_labels": [
689
+ "provide tamper evidence",
690
+ "retain cap before first opening",
691
+ "indicate seal integrity",
692
+ "connect cap to neck before opening"
693
+ ],
694
+ "semantic_description": "Thin light green plastic band beneath the cap, slightly glossy and narrow, encircling the neck as a small breakaway seal element.",
695
+ "id": 4,
696
+ "grasp_group": {}
697
+ }
698
+ ],
699
+ "quality_check": {
700
+ "success": true,
701
+ "message": "YES"
702
+ }
703
+ }
dataset/food/beverages/971432c3582d56cbabadeb22ace92df5/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:10b1ebcb173e5f9ebe063f4397aa3f4caffd9e8a789b553b46fe7faabd48697e
3
+ size 3779892
dataset/food/beverages/971432c3582d56cbabadeb22ace92df5/beverage_bottle_019.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>NO: {"summary":"Label area is split off, but major body/cap/neck are mostly correct; unsupported missing sleeve-body distinction.","merge_groups":[]}</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>NO: {"summary":"Label area is split off, but major body/cap/neck are mostly correct; unsupported missing sleeve-body distinction.","merge_groups":[]}</PartSegChecker>