Add asset food/beverages/eade24ce097e50e4b76f1e493ffbc745
Browse files
.gitattributes
CHANGED
|
@@ -6745,3 +6745,4 @@ dataset/food/beverages/d45abc908aee598bbc1506fa9bf7df1d/affordance/mesh_part_seg
|
|
| 6745 |
dataset/food/beverages/deb1095a3fe15233a36132f650ccbc79/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6746 |
dataset/food/beverages/eaa17cfd5f105b2884a03e6302ca52df/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6747 |
dataset/food/beverages/e7e52b5bc28f5c6b9cf8db04544f7796/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 6745 |
dataset/food/beverages/deb1095a3fe15233a36132f650ccbc79/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6746 |
dataset/food/beverages/eaa17cfd5f105b2884a03e6302ca52df/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6747 |
dataset/food/beverages/e7e52b5bc28f5c6b9cf8db04544f7796/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6748 |
+
dataset/food/beverages/eade24ce097e50e4b76f1e493ffbc745/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/food/beverages/eade24ce097e50e4b76f1e493ffbc745/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,399 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "can body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the cylindrical sidewall to pick up and move the can",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize the can while opening the tab",
|
| 14 |
+
"confidence": 0.91
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the body to orient the can for pouring or placement",
|
| 18 |
+
"confidence": 0.89
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain the beverage",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"support printed branding and label information",
|
| 25 |
+
"provide structural shell"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Tall cylindrical black aluminum body with a glossy smooth hard surface, medium size, forming most of the can and carrying white printed logo and nutrition text on the side.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9734068512916565,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.024193584162276238,
|
| 34 |
+
-0.10599718542653136,
|
| 35 |
+
0.007805219531292096
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.05847473818926077,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.10928137345576684,
|
| 41 |
+
0.7168220221103915,
|
| 42 |
+
0.686151932903266
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.973289966583252,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.028946126985829324,
|
| 50 |
+
-0.10170418323832564,
|
| 51 |
+
0.016418117244029418
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.08345595946657368,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.13543680577419076,
|
| 57 |
+
0.715482640556465,
|
| 58 |
+
0.680276830072542
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.9725693464279175,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.1014046102645807,
|
| 66 |
+
-0.0004598826344590634,
|
| 67 |
+
-0.005361512623494491
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.4946062476154772,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.5015767423989981,
|
| 73 |
+
0.5119787996716265,
|
| 74 |
+
0.4915924531468595
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_3": {
|
| 79 |
+
"confidence": 0.9719098210334778,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.10171038954285905,
|
| 82 |
+
-0.005358658003387973,
|
| 83 |
+
-0.0018454115779604763
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.4930299109352605,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.5258613230203156,
|
| 89 |
+
0.4826932124284429,
|
| 90 |
+
-0.49739183603071174
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_4": {
|
| 95 |
+
"confidence": 0.9717879891395569,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.1003607094171457,
|
| 98 |
+
0.0059458928008098155,
|
| 99 |
+
-0.0009712142345961183
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.509966387485232,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.5154515278174356,
|
| 105 |
+
0.49775123331709414,
|
| 106 |
+
0.4759072554996883
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_5": {
|
| 111 |
+
"confidence": 0.9714771509170532,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.03825420810608193,
|
| 114 |
+
-0.09994896801072173,
|
| 115 |
+
0.0004864905495196581
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.12249535274153978,
|
| 119 |
+
"xyz": [
|
| 120 |
+
0.1521024821493137,
|
| 121 |
+
0.7063316097323756,
|
| 122 |
+
0.6804082455214764
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_6": {
|
| 127 |
+
"confidence": 0.9714465737342834,
|
| 128 |
+
"position": [
|
| 129 |
+
-0.10028302221326157,
|
| 130 |
+
-0.00782141016679816,
|
| 131 |
+
-0.001504030980868265
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.49054302458038657,
|
| 135 |
+
"xyz": [
|
| 136 |
+
-0.5321020836054267,
|
| 137 |
+
0.4825213869042776,
|
| 138 |
+
-0.4933639881854593
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_7": {
|
| 143 |
+
"confidence": 0.9712557792663574,
|
| 144 |
+
"position": [
|
| 145 |
+
0.09408163727493957,
|
| 146 |
+
0.032492299360455945,
|
| 147 |
+
-0.010658276121830568
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.5733885118444311,
|
| 151 |
+
"xyz": [
|
| 152 |
+
0.5783230999641723,
|
| 153 |
+
-0.4193590077688635,
|
| 154 |
+
-0.4011309376447709
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_8": {
|
| 159 |
+
"confidence": 0.9711886644363403,
|
| 160 |
+
"position": [
|
| 161 |
+
-0.10217172204283997,
|
| 162 |
+
-0.000662314094370231,
|
| 163 |
+
-0.0028761903231497854
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.4882732919065228,
|
| 167 |
+
"xyz": [
|
| 168 |
+
0.49997730826975223,
|
| 169 |
+
0.5125935457189077,
|
| 170 |
+
0.498858437348131
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"grasp_9": {
|
| 175 |
+
"confidence": 0.9709988832473755,
|
| 176 |
+
"position": [
|
| 177 |
+
-0.10226851253537461,
|
| 178 |
+
-0.008626735041616485,
|
| 179 |
+
0.008182644058251753
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.48635584974541546,
|
| 183 |
+
"xyz": [
|
| 184 |
+
-0.5501922449111352,
|
| 185 |
+
0.4826137625573651,
|
| 186 |
+
-0.47731586737535064
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"grasp_10": {
|
| 191 |
+
"confidence": 0.9704170227050781,
|
| 192 |
+
"position": [
|
| 193 |
+
-0.10275089292554185,
|
| 194 |
+
0.009606038016499951,
|
| 195 |
+
-0.0012407380563672632
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.5165256852917021,
|
| 199 |
+
"xyz": [
|
| 200 |
+
0.5226981549183585,
|
| 201 |
+
0.48587162679081874,
|
| 202 |
+
0.47319828566735594
|
| 203 |
+
]
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"grasp_12": {
|
| 207 |
+
"confidence": 0.9701409339904785,
|
| 208 |
+
"position": [
|
| 209 |
+
-0.09856520890025422,
|
| 210 |
+
-0.02691076064365916,
|
| 211 |
+
0.008314150531077757
|
| 212 |
+
],
|
| 213 |
+
"orientation": {
|
| 214 |
+
"w": 0.5281014188003608,
|
| 215 |
+
"xyz": [
|
| 216 |
+
-0.5846518428875256,
|
| 217 |
+
0.42109527127411817,
|
| 218 |
+
-0.4494105990960204
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"grasp_13": {
|
| 223 |
+
"confidence": 0.9699914455413818,
|
| 224 |
+
"position": [
|
| 225 |
+
0.09206679166527465,
|
| 226 |
+
0.03832335097831674,
|
| 227 |
+
-0.008932480443036184
|
| 228 |
+
],
|
| 229 |
+
"orientation": {
|
| 230 |
+
"w": 0.607960649558473,
|
| 231 |
+
"xyz": [
|
| 232 |
+
0.5744518518911007,
|
| 233 |
+
-0.4011145726974761,
|
| 234 |
+
-0.37349165722549454
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
"grasp_14": {
|
| 239 |
+
"confidence": 0.9697874188423157,
|
| 240 |
+
"position": [
|
| 241 |
+
-0.10020960419205949,
|
| 242 |
+
0.01248573957127519,
|
| 243 |
+
-0.007046711019938812
|
| 244 |
+
],
|
| 245 |
+
"orientation": {
|
| 246 |
+
"w": 0.46447746697491277,
|
| 247 |
+
"xyz": [
|
| 248 |
+
-0.47316111827885643,
|
| 249 |
+
0.5119486682822607,
|
| 250 |
+
-0.5461573032247126
|
| 251 |
+
]
|
| 252 |
+
}
|
| 253 |
+
},
|
| 254 |
+
"grasp_15": {
|
| 255 |
+
"confidence": 0.9695271849632263,
|
| 256 |
+
"position": [
|
| 257 |
+
-0.09816504566697404,
|
| 258 |
+
0.005614633933873847,
|
| 259 |
+
0.0050684317538980395
|
| 260 |
+
],
|
| 261 |
+
"orientation": {
|
| 262 |
+
"w": 0.46960873215561677,
|
| 263 |
+
"xyz": [
|
| 264 |
+
-0.5127196114090601,
|
| 265 |
+
0.5103821852020206,
|
| 266 |
+
-0.5060595456941283
|
| 267 |
+
]
|
| 268 |
+
}
|
| 269 |
+
},
|
| 270 |
+
"grasp_17": {
|
| 271 |
+
"confidence": 0.9692171216011047,
|
| 272 |
+
"position": [
|
| 273 |
+
0.10154418350430205,
|
| 274 |
+
0.014388020877959207,
|
| 275 |
+
-0.01640451219282113
|
| 276 |
+
],
|
| 277 |
+
"orientation": {
|
| 278 |
+
"w": 0.5501694659448116,
|
| 279 |
+
"xyz": [
|
| 280 |
+
0.5270671803042134,
|
| 281 |
+
-0.45249745542944975,
|
| 282 |
+
-0.46342183701034156
|
| 283 |
+
]
|
| 284 |
+
}
|
| 285 |
+
},
|
| 286 |
+
"grasp_18": {
|
| 287 |
+
"confidence": 0.9690194725990295,
|
| 288 |
+
"position": [
|
| 289 |
+
0.10338835121365264,
|
| 290 |
+
0.012926126626553014,
|
| 291 |
+
0.0029191117791924626
|
| 292 |
+
],
|
| 293 |
+
"orientation": {
|
| 294 |
+
"w": 0.46937414356401047,
|
| 295 |
+
"xyz": [
|
| 296 |
+
-0.47078082754477113,
|
| 297 |
+
-0.5267657723213416,
|
| 298 |
+
0.5296896703547392
|
| 299 |
+
]
|
| 300 |
+
}
|
| 301 |
+
},
|
| 302 |
+
"grasp_19": {
|
| 303 |
+
"confidence": 0.9687162637710571,
|
| 304 |
+
"position": [
|
| 305 |
+
0.09735674859257415,
|
| 306 |
+
0.02789566552382894,
|
| 307 |
+
-0.01520460456958972
|
| 308 |
+
],
|
| 309 |
+
"orientation": {
|
| 310 |
+
"w": 0.5973493455187464,
|
| 311 |
+
"xyz": [
|
| 312 |
+
0.5392960902021423,
|
| 313 |
+
-0.4069602241459488,
|
| 314 |
+
-0.4321074663368909
|
| 315 |
+
]
|
| 316 |
+
}
|
| 317 |
+
}
|
| 318 |
+
}
|
| 319 |
+
},
|
| 320 |
+
{
|
| 321 |
+
"part_name": "top lid",
|
| 322 |
+
"mask_color": "Green",
|
| 323 |
+
"graspable": true,
|
| 324 |
+
"grasp_scenarios": [
|
| 325 |
+
{
|
| 326 |
+
"scenario": "pinch the top rim area to steady the can during opening",
|
| 327 |
+
"confidence": 0.42
|
| 328 |
+
},
|
| 329 |
+
{
|
| 330 |
+
"scenario": "grasp the lid area to reorient a lying can in a cluttered bin",
|
| 331 |
+
"confidence": 0.31
|
| 332 |
+
}
|
| 333 |
+
],
|
| 334 |
+
"functional_labels": [
|
| 335 |
+
"seal the beverage container",
|
| 336 |
+
"support the pull tab opening feature",
|
| 337 |
+
"provide drinking opening area",
|
| 338 |
+
"close the top of the can"
|
| 339 |
+
],
|
| 340 |
+
"semantic_description": "Flat circular silver aluminum lid with a slightly reflective smooth hard finish, located at the top of the can and recessed slightly inside the rim around the pull-tab opening.",
|
| 341 |
+
"id": 1,
|
| 342 |
+
"grasp_group": {}
|
| 343 |
+
},
|
| 344 |
+
{
|
| 345 |
+
"part_name": "pull tab",
|
| 346 |
+
"mask_color": "Blue",
|
| 347 |
+
"graspable": true,
|
| 348 |
+
"grasp_scenarios": [
|
| 349 |
+
{
|
| 350 |
+
"scenario": "hook or pinch the tab to open the can",
|
| 351 |
+
"confidence": 0.94
|
| 352 |
+
},
|
| 353 |
+
{
|
| 354 |
+
"scenario": "delicately grasp the tab to start lifting it for puncturing the lid",
|
| 355 |
+
"confidence": 0.83
|
| 356 |
+
},
|
| 357 |
+
{
|
| 358 |
+
"scenario": "use a precision gripper on the tab to manipulate can orientation slightly",
|
| 359 |
+
"confidence": 0.18
|
| 360 |
+
}
|
| 361 |
+
],
|
| 362 |
+
"functional_labels": [
|
| 363 |
+
"open the can",
|
| 364 |
+
"provide a lifting point for puncturing the lid",
|
| 365 |
+
"enable access to the beverage"
|
| 366 |
+
],
|
| 367 |
+
"semantic_description": "Small silver aluminum ring tab with a smooth hard reflective surface, mounted on the top lid near the drinking aperture, thin and oval with a raised lever shape.",
|
| 368 |
+
"id": 2,
|
| 369 |
+
"grasp_group": {}
|
| 370 |
+
},
|
| 371 |
+
{
|
| 372 |
+
"part_name": "top rim",
|
| 373 |
+
"mask_color": "Yellow",
|
| 374 |
+
"graspable": false,
|
| 375 |
+
"grasp_scenarios": [
|
| 376 |
+
{
|
| 377 |
+
"scenario": "use the rim as a light contact edge for top-down repositioning rather than a full grasp",
|
| 378 |
+
"confidence": 0.26
|
| 379 |
+
},
|
| 380 |
+
{
|
| 381 |
+
"scenario": "briefly steady the can with fingertip contact near the rim during manipulation",
|
| 382 |
+
"confidence": 0.22
|
| 383 |
+
}
|
| 384 |
+
],
|
| 385 |
+
"functional_labels": [
|
| 386 |
+
"reinforce the lid edge",
|
| 387 |
+
"protect the top perimeter",
|
| 388 |
+
"help define the top boundary of the can"
|
| 389 |
+
],
|
| 390 |
+
"semantic_description": "Narrow circular silver aluminum rim with a smooth hard slightly reflective finish, encircling the top edge of the can as a thin raised ring above the cylindrical wall.",
|
| 391 |
+
"id": 3,
|
| 392 |
+
"grasp_group": {}
|
| 393 |
+
}
|
| 394 |
+
],
|
| 395 |
+
"quality_check": {
|
| 396 |
+
"success": true,
|
| 397 |
+
"message": "YES"
|
| 398 |
+
}
|
| 399 |
+
}
|
dataset/food/beverages/eade24ce097e50e4b76f1e493ffbc745/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:fd5e1aa037fcbc005f5ce1e3101f28da298a6fe90732a20d38c9e3526d586537
|
| 3 |
+
size 3781972
|