Add asset food/beverages/ab394336079459deaa0a55d537b05280
Browse files
.gitattributes
CHANGED
|
@@ -6733,3 +6733,4 @@ dataset/food/beverages/9027eca237845f2f83266aad3ec23ccc/affordance/mesh_part_seg
|
|
| 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
|
| 6735 |
dataset/food/beverages/92a48cc3aa755abaae8f62b11b1b9112/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
|
| 6735 |
dataset/food/beverages/92a48cc3aa755abaae8f62b11b1b9112/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6736 |
+
dataset/food/beverages/ab394336079459deaa0a55d537b05280/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/food/beverages/ab394336079459deaa0a55d537b05280/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,717 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "carton body",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the side walls to pick up and carry the milk carton",
|
| 10 |
+
"confidence": 0.94
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize the carton while opening or pouring",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the lower body to place or reposition the carton on a surface",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain liquid",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"support pouring manipulation",
|
| 25 |
+
"provide structural enclosure",
|
| 26 |
+
"stand upright on a surface"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large white paperboard carton body with a mostly matte smooth surface, hard but slightly compliant feel, tapered rectangular prism shape, and blue printed text, nutrition panel, barcode, and droplet graphics on the sides.",
|
| 29 |
+
"id": 2,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
+
"confidence": 0.9769570827484131,
|
| 33 |
+
"position": [
|
| 34 |
+
-0.11771254939958453,
|
| 35 |
+
-0.007691376784350723,
|
| 36 |
+
-0.020324698591139168
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.4965890473201267,
|
| 40 |
+
"xyz": [
|
| 41 |
+
-0.5215492355378775,
|
| 42 |
+
0.49864656659813966,
|
| 43 |
+
-0.48242855907525983
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_1": {
|
| 48 |
+
"confidence": 0.974155843257904,
|
| 49 |
+
"position": [
|
| 50 |
+
-0.11842460883781314,
|
| 51 |
+
-0.004946372879203409,
|
| 52 |
+
-0.03022124891867861
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.49024182475410766,
|
| 56 |
+
"xyz": [
|
| 57 |
+
0.49967703193185387,
|
| 58 |
+
0.5011256769273162,
|
| 59 |
+
0.5087817537468052
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_2": {
|
| 64 |
+
"confidence": 0.97371906042099,
|
| 65 |
+
"position": [
|
| 66 |
+
-0.11614835960790515,
|
| 67 |
+
-0.004329132789280266,
|
| 68 |
+
-0.024283199512865394
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.5072824909083794,
|
| 72 |
+
"xyz": [
|
| 73 |
+
-0.5108317450195342,
|
| 74 |
+
0.4868004793985553,
|
| 75 |
+
-0.494712740846064
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_3": {
|
| 80 |
+
"confidence": 0.973015308380127,
|
| 81 |
+
"position": [
|
| 82 |
+
-0.11957432283088565,
|
| 83 |
+
-0.006600152642931789,
|
| 84 |
+
-0.028913705551531166
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.5057725810203304,
|
| 88 |
+
"xyz": [
|
| 89 |
+
-0.5140273676727571,
|
| 90 |
+
0.4835492348183391,
|
| 91 |
+
-0.4961351621061016
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_4": {
|
| 96 |
+
"confidence": 0.9725797176361084,
|
| 97 |
+
"position": [
|
| 98 |
+
-0.11606617970392108,
|
| 99 |
+
-0.004117621516343206,
|
| 100 |
+
-0.004704413411673158
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.4543128509943048,
|
| 104 |
+
"xyz": [
|
| 105 |
+
0.5287209021914824,
|
| 106 |
+
0.550996146137544,
|
| 107 |
+
0.4587562402287586
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_5": {
|
| 112 |
+
"confidence": 0.9720331430435181,
|
| 113 |
+
"position": [
|
| 114 |
+
-0.11750317318364978,
|
| 115 |
+
-0.0026842113002203405,
|
| 116 |
+
-0.020453152188565582
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.5001209124368,
|
| 120 |
+
"xyz": [
|
| 121 |
+
-0.5116740414093397,
|
| 122 |
+
0.49280673968389677,
|
| 123 |
+
-0.4951871016225519
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_6": {
|
| 128 |
+
"confidence": 0.9719390869140625,
|
| 129 |
+
"position": [
|
| 130 |
+
-0.117608233820647,
|
| 131 |
+
-0.00534962018718943,
|
| 132 |
+
-0.03422129986574873
|
| 133 |
+
],
|
| 134 |
+
"orientation": {
|
| 135 |
+
"w": 0.5079181799910792,
|
| 136 |
+
"xyz": [
|
| 137 |
+
-0.5097236189769134,
|
| 138 |
+
0.48973793828856116,
|
| 139 |
+
-0.4922983917224357
|
| 140 |
+
]
|
| 141 |
+
}
|
| 142 |
+
},
|
| 143 |
+
"grasp_7": {
|
| 144 |
+
"confidence": 0.9718770384788513,
|
| 145 |
+
"position": [
|
| 146 |
+
-0.11837936146184802,
|
| 147 |
+
-0.0033778175129555166,
|
| 148 |
+
-0.021002749854233116
|
| 149 |
+
],
|
| 150 |
+
"orientation": {
|
| 151 |
+
"w": 0.5044114755220165,
|
| 152 |
+
"xyz": [
|
| 153 |
+
-0.5043292611450528,
|
| 154 |
+
0.48481541413570817,
|
| 155 |
+
-0.506137406176435
|
| 156 |
+
]
|
| 157 |
+
}
|
| 158 |
+
},
|
| 159 |
+
"grasp_8": {
|
| 160 |
+
"confidence": 0.97160404920578,
|
| 161 |
+
"position": [
|
| 162 |
+
-0.11631422443315387,
|
| 163 |
+
-0.004874174890574068,
|
| 164 |
+
-0.014992288255598396
|
| 165 |
+
],
|
| 166 |
+
"orientation": {
|
| 167 |
+
"w": 0.5060299402068243,
|
| 168 |
+
"xyz": [
|
| 169 |
+
-0.5050348150658842,
|
| 170 |
+
0.48564224724038163,
|
| 171 |
+
-0.5030160463454002
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
},
|
| 175 |
+
"grasp_9": {
|
| 176 |
+
"confidence": 0.9711889028549194,
|
| 177 |
+
"position": [
|
| 178 |
+
-0.11711645079776645,
|
| 179 |
+
-0.0072381337522529066,
|
| 180 |
+
-0.025188147032167763
|
| 181 |
+
],
|
| 182 |
+
"orientation": {
|
| 183 |
+
"w": 0.48643906324135644,
|
| 184 |
+
"xyz": [
|
| 185 |
+
0.48795171715612384,
|
| 186 |
+
0.5079175345002105,
|
| 187 |
+
0.5170105778651819
|
| 188 |
+
]
|
| 189 |
+
}
|
| 190 |
+
},
|
| 191 |
+
"grasp_10": {
|
| 192 |
+
"confidence": 0.9709036946296692,
|
| 193 |
+
"position": [
|
| 194 |
+
-0.1196856047026813,
|
| 195 |
+
-0.007337002025451511,
|
| 196 |
+
-0.019855773949529976
|
| 197 |
+
],
|
| 198 |
+
"orientation": {
|
| 199 |
+
"w": 0.51363292553403,
|
| 200 |
+
"xyz": [
|
| 201 |
+
-0.5032315424086496,
|
| 202 |
+
0.49000265515558605,
|
| 203 |
+
-0.4927845680140976
|
| 204 |
+
]
|
| 205 |
+
}
|
| 206 |
+
},
|
| 207 |
+
"grasp_11": {
|
| 208 |
+
"confidence": 0.9702988266944885,
|
| 209 |
+
"position": [
|
| 210 |
+
-0.11659439606592059,
|
| 211 |
+
-0.0030770874000154436,
|
| 212 |
+
-0.016033549734856933
|
| 213 |
+
],
|
| 214 |
+
"orientation": {
|
| 215 |
+
"w": 0.4883904246310056,
|
| 216 |
+
"xyz": [
|
| 217 |
+
0.5001105238143447,
|
| 218 |
+
0.5103024140752943,
|
| 219 |
+
0.5009547916606998
|
| 220 |
+
]
|
| 221 |
+
}
|
| 222 |
+
},
|
| 223 |
+
"grasp_12": {
|
| 224 |
+
"confidence": 0.9702335000038147,
|
| 225 |
+
"position": [
|
| 226 |
+
-0.11942774010822177,
|
| 227 |
+
-0.0011551405186764896,
|
| 228 |
+
-0.03233270061900839
|
| 229 |
+
],
|
| 230 |
+
"orientation": {
|
| 231 |
+
"w": 0.5041109961839936,
|
| 232 |
+
"xyz": [
|
| 233 |
+
-0.5027018780189901,
|
| 234 |
+
0.4888701046129188,
|
| 235 |
+
-0.5041517094866544
|
| 236 |
+
]
|
| 237 |
+
}
|
| 238 |
+
},
|
| 239 |
+
"grasp_13": {
|
| 240 |
+
"confidence": 0.9701676368713379,
|
| 241 |
+
"position": [
|
| 242 |
+
-0.1179151232354343,
|
| 243 |
+
-0.004975892079528421,
|
| 244 |
+
-0.013330502377357334
|
| 245 |
+
],
|
| 246 |
+
"orientation": {
|
| 247 |
+
"w": 0.5074189659908779,
|
| 248 |
+
"xyz": [
|
| 249 |
+
-0.5078818817229145,
|
| 250 |
+
0.49072428022663983,
|
| 251 |
+
-0.49373238496819866
|
| 252 |
+
]
|
| 253 |
+
}
|
| 254 |
+
},
|
| 255 |
+
"grasp_14": {
|
| 256 |
+
"confidence": 0.9699615836143494,
|
| 257 |
+
"position": [
|
| 258 |
+
-0.12111717415973544,
|
| 259 |
+
-7.330271182581782e-05,
|
| 260 |
+
-0.022065658995416015
|
| 261 |
+
],
|
| 262 |
+
"orientation": {
|
| 263 |
+
"w": 0.4943060604694843,
|
| 264 |
+
"xyz": [
|
| 265 |
+
-0.4976213928958043,
|
| 266 |
+
0.5060084508933775,
|
| 267 |
+
-0.501985971457432
|
| 268 |
+
]
|
| 269 |
+
}
|
| 270 |
+
},
|
| 271 |
+
"grasp_15": {
|
| 272 |
+
"confidence": 0.9692453145980835,
|
| 273 |
+
"position": [
|
| 274 |
+
-0.11507825506851077,
|
| 275 |
+
-0.0039013269706629217,
|
| 276 |
+
-0.023905114212539047
|
| 277 |
+
],
|
| 278 |
+
"orientation": {
|
| 279 |
+
"w": 0.49335024763586305,
|
| 280 |
+
"xyz": [
|
| 281 |
+
0.48980313158517536,
|
| 282 |
+
0.5036665173051198,
|
| 283 |
+
0.5128532585376828
|
| 284 |
+
]
|
| 285 |
+
}
|
| 286 |
+
},
|
| 287 |
+
"grasp_16": {
|
| 288 |
+
"confidence": 0.9692428708076477,
|
| 289 |
+
"position": [
|
| 290 |
+
-0.11302055371925235,
|
| 291 |
+
-0.003991479461546987,
|
| 292 |
+
-0.029104418063070625
|
| 293 |
+
],
|
| 294 |
+
"orientation": {
|
| 295 |
+
"w": 0.5216706617844663,
|
| 296 |
+
"xyz": [
|
| 297 |
+
-0.4903165011050414,
|
| 298 |
+
0.4689986564083749,
|
| 299 |
+
-0.5171940735010471
|
| 300 |
+
]
|
| 301 |
+
}
|
| 302 |
+
},
|
| 303 |
+
"grasp_17": {
|
| 304 |
+
"confidence": 0.9692334532737732,
|
| 305 |
+
"position": [
|
| 306 |
+
-0.11352641833946109,
|
| 307 |
+
-0.0031387898488901556,
|
| 308 |
+
-0.023420737066771835
|
| 309 |
+
],
|
| 310 |
+
"orientation": {
|
| 311 |
+
"w": 0.5120807660781606,
|
| 312 |
+
"xyz": [
|
| 313 |
+
-0.501946153936062,
|
| 314 |
+
0.48443085118479035,
|
| 315 |
+
-0.501148778290418
|
| 316 |
+
]
|
| 317 |
+
}
|
| 318 |
+
},
|
| 319 |
+
"grasp_18": {
|
| 320 |
+
"confidence": 0.9690427780151367,
|
| 321 |
+
"position": [
|
| 322 |
+
-0.11394900782033801,
|
| 323 |
+
-0.0027328142314217985,
|
| 324 |
+
-0.02577476477017626
|
| 325 |
+
],
|
| 326 |
+
"orientation": {
|
| 327 |
+
"w": 0.5043950355793876,
|
| 328 |
+
"xyz": [
|
| 329 |
+
-0.5093103728819083,
|
| 330 |
+
0.48906808038123184,
|
| 331 |
+
-0.4969919565847891
|
| 332 |
+
]
|
| 333 |
+
}
|
| 334 |
+
},
|
| 335 |
+
"grasp_19": {
|
| 336 |
+
"confidence": 0.9689999222755432,
|
| 337 |
+
"position": [
|
| 338 |
+
-0.1220233510248363,
|
| 339 |
+
-0.004886087437625974,
|
| 340 |
+
-0.024960986280348152
|
| 341 |
+
],
|
| 342 |
+
"orientation": {
|
| 343 |
+
"w": 0.48884422320801135,
|
| 344 |
+
"xyz": [
|
| 345 |
+
0.49391783594034633,
|
| 346 |
+
0.5032529598773414,
|
| 347 |
+
0.5136272531231739
|
| 348 |
+
]
|
| 349 |
+
}
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
},
|
| 353 |
+
{
|
| 354 |
+
"part_name": "gable top fold",
|
| 355 |
+
"mask_color": "Yellow",
|
| 356 |
+
"graspable": true,
|
| 357 |
+
"grasp_scenarios": [
|
| 358 |
+
{
|
| 359 |
+
"scenario": "pinch the folded top seam to manipulate the carton during opening",
|
| 360 |
+
"confidence": 0.63
|
| 361 |
+
},
|
| 362 |
+
{
|
| 363 |
+
"scenario": "lightly grasp the top fold to orient the carton before pouring",
|
| 364 |
+
"confidence": 0.48
|
| 365 |
+
}
|
| 366 |
+
],
|
| 367 |
+
"functional_labels": [
|
| 368 |
+
"close the container top",
|
| 369 |
+
"form the pouring end",
|
| 370 |
+
"indicate top orientation",
|
| 371 |
+
"support opening manipulation"
|
| 372 |
+
],
|
| 373 |
+
"semantic_description": "Folded white paperboard top panels with a matte smooth finish and crisp creases, forming the triangular gable and narrow top seam at the carton top.",
|
| 374 |
+
"id": 3,
|
| 375 |
+
"grasp_group": {
|
| 376 |
+
"grasp_20": {
|
| 377 |
+
"confidence": 0.8451176881790161,
|
| 378 |
+
"position": [
|
| 379 |
+
-0.0016437030863016844,
|
| 380 |
+
-0.09155891457339749,
|
| 381 |
+
0.09316157834837213
|
| 382 |
+
],
|
| 383 |
+
"orientation": {
|
| 384 |
+
"w": 0.49136934856589815,
|
| 385 |
+
"xyz": [
|
| 386 |
+
-0.8709475171106059,
|
| 387 |
+
0.002446612478958665,
|
| 388 |
+
-0.0007744780008084703
|
| 389 |
+
]
|
| 390 |
+
}
|
| 391 |
+
},
|
| 392 |
+
"grasp_21": {
|
| 393 |
+
"confidence": 0.8338181972503662,
|
| 394 |
+
"position": [
|
| 395 |
+
0.0003458897117525339,
|
| 396 |
+
0.09419950476149097,
|
| 397 |
+
0.08830951439449564
|
| 398 |
+
],
|
| 399 |
+
"orientation": {
|
| 400 |
+
"w": 0.5105724981047206,
|
| 401 |
+
"xyz": [
|
| 402 |
+
0.8595805611451033,
|
| 403 |
+
0.01640526894991645,
|
| 404 |
+
0.012955702653862622
|
| 405 |
+
]
|
| 406 |
+
}
|
| 407 |
+
},
|
| 408 |
+
"grasp_22": {
|
| 409 |
+
"confidence": 0.8064752817153931,
|
| 410 |
+
"position": [
|
| 411 |
+
0.005316297989338636,
|
| 412 |
+
-0.09223731228848919,
|
| 413 |
+
0.09062644379446283
|
| 414 |
+
],
|
| 415 |
+
"orientation": {
|
| 416 |
+
"w": 0.4917974575911187,
|
| 417 |
+
"xyz": [
|
| 418 |
+
-0.8706068496347923,
|
| 419 |
+
-0.013335952625007697,
|
| 420 |
+
-0.0010613404154750335
|
| 421 |
+
]
|
| 422 |
+
}
|
| 423 |
+
},
|
| 424 |
+
"grasp_23": {
|
| 425 |
+
"confidence": 0.797909140586853,
|
| 426 |
+
"position": [
|
| 427 |
+
0.0017973014619201422,
|
| 428 |
+
0.08224715670803562,
|
| 429 |
+
0.10219718801090494
|
| 430 |
+
],
|
| 431 |
+
"orientation": {
|
| 432 |
+
"w": 0.0011595922044367697,
|
| 433 |
+
"xyz": [
|
| 434 |
+
-0.0018465911224813654,
|
| 435 |
+
0.8964414051339998,
|
| 436 |
+
-0.44315691646247135
|
| 437 |
+
]
|
| 438 |
+
}
|
| 439 |
+
},
|
| 440 |
+
"grasp_24": {
|
| 441 |
+
"confidence": 0.7767902612686157,
|
| 442 |
+
"position": [
|
| 443 |
+
0.0007834146963432431,
|
| 444 |
+
0.11028685799101368,
|
| 445 |
+
0.04907057719537988
|
| 446 |
+
],
|
| 447 |
+
"orientation": {
|
| 448 |
+
"w": 0.6739237332756844,
|
| 449 |
+
"xyz": [
|
| 450 |
+
0.7384951573326285,
|
| 451 |
+
0.018983972141313754,
|
| 452 |
+
0.009555790169204012
|
| 453 |
+
]
|
| 454 |
+
}
|
| 455 |
+
},
|
| 456 |
+
"grasp_25": {
|
| 457 |
+
"confidence": 0.7494816780090332,
|
| 458 |
+
"position": [
|
| 459 |
+
0.001015144633129239,
|
| 460 |
+
0.09239542117575184,
|
| 461 |
+
0.08981167065212503
|
| 462 |
+
],
|
| 463 |
+
"orientation": {
|
| 464 |
+
"w": 0.0004281241874521972,
|
| 465 |
+
"xyz": [
|
| 466 |
+
-0.0020692052166643633,
|
| 467 |
+
-0.8666597489534553,
|
| 468 |
+
0.498895194047192
|
| 469 |
+
]
|
| 470 |
+
}
|
| 471 |
+
},
|
| 472 |
+
"grasp_26": {
|
| 473 |
+
"confidence": 0.7185007333755493,
|
| 474 |
+
"position": [
|
| 475 |
+
0.003191324882209301,
|
| 476 |
+
0.08340950688580051,
|
| 477 |
+
0.09927843796322122
|
| 478 |
+
],
|
| 479 |
+
"orientation": {
|
| 480 |
+
"w": 0.477224721605081,
|
| 481 |
+
"xyz": [
|
| 482 |
+
0.8785059657047372,
|
| 483 |
+
0.021247425992096614,
|
| 484 |
+
0.0056903601687628745
|
| 485 |
+
]
|
| 486 |
+
}
|
| 487 |
+
},
|
| 488 |
+
"grasp_27": {
|
| 489 |
+
"confidence": 0.7151135206222534,
|
| 490 |
+
"position": [
|
| 491 |
+
-0.0005475653160829097,
|
| 492 |
+
-0.0037174270837567747,
|
| 493 |
+
0.16196591692278162
|
| 494 |
+
],
|
| 495 |
+
"orientation": {
|
| 496 |
+
"w": 0.015709784097841566,
|
| 497 |
+
"xyz": [
|
| 498 |
+
0.015828358763086085,
|
| 499 |
+
0.9995733155077166,
|
| 500 |
+
0.018864057553383735
|
| 501 |
+
]
|
| 502 |
+
}
|
| 503 |
+
},
|
| 504 |
+
"grasp_28": {
|
| 505 |
+
"confidence": 0.7104090452194214,
|
| 506 |
+
"position": [
|
| 507 |
+
-0.0003238404169678688,
|
| 508 |
+
0.10737507423618808,
|
| 509 |
+
0.042533709725830704
|
| 510 |
+
],
|
| 511 |
+
"orientation": {
|
| 512 |
+
"w": 0.6990008269771554,
|
| 513 |
+
"xyz": [
|
| 514 |
+
0.7149782287259515,
|
| 515 |
+
0.002069400402473942,
|
| 516 |
+
0.01413130974566677
|
| 517 |
+
]
|
| 518 |
+
}
|
| 519 |
+
},
|
| 520 |
+
"grasp_29": {
|
| 521 |
+
"confidence": 0.6979134678840637,
|
| 522 |
+
"position": [
|
| 523 |
+
0.0004478271584957838,
|
| 524 |
+
0.05278387671569362,
|
| 525 |
+
0.12857941823313013
|
| 526 |
+
],
|
| 527 |
+
"orientation": {
|
| 528 |
+
"w": 0.2561223471866694,
|
| 529 |
+
"xyz": [
|
| 530 |
+
0.9661447421859003,
|
| 531 |
+
0.029719273976528793,
|
| 532 |
+
0.009079932402792935
|
| 533 |
+
]
|
| 534 |
+
}
|
| 535 |
+
},
|
| 536 |
+
"grasp_30": {
|
| 537 |
+
"confidence": 0.675900936126709,
|
| 538 |
+
"position": [
|
| 539 |
+
0.001059447880834341,
|
| 540 |
+
0.08460580190876499,
|
| 541 |
+
0.09678855823585764
|
| 542 |
+
],
|
| 543 |
+
"orientation": {
|
| 544 |
+
"w": 0.500200876188782,
|
| 545 |
+
"xyz": [
|
| 546 |
+
0.8654858827698544,
|
| 547 |
+
0.02419726300238123,
|
| 548 |
+
0.01215576609083219
|
| 549 |
+
]
|
| 550 |
+
}
|
| 551 |
+
},
|
| 552 |
+
"grasp_31": {
|
| 553 |
+
"confidence": 0.6731356978416443,
|
| 554 |
+
"position": [
|
| 555 |
+
0.002333129057660699,
|
| 556 |
+
0.08554803213337436,
|
| 557 |
+
0.08986321376869455
|
| 558 |
+
],
|
| 559 |
+
"orientation": {
|
| 560 |
+
"w": 0.5146271208384776,
|
| 561 |
+
"xyz": [
|
| 562 |
+
0.8571366146953654,
|
| 563 |
+
0.021321148120334477,
|
| 564 |
+
0.004599879226457613
|
| 565 |
+
]
|
| 566 |
+
}
|
| 567 |
+
},
|
| 568 |
+
"grasp_32": {
|
| 569 |
+
"confidence": 0.6608119606971741,
|
| 570 |
+
"position": [
|
| 571 |
+
0.0011331525165587664,
|
| 572 |
+
0.0849029459641315,
|
| 573 |
+
0.095973375311587
|
| 574 |
+
],
|
| 575 |
+
"orientation": {
|
| 576 |
+
"w": 0.504928753253861,
|
| 577 |
+
"xyz": [
|
| 578 |
+
0.8627663471609663,
|
| 579 |
+
0.021090693628632473,
|
| 580 |
+
0.015374231242170385
|
| 581 |
+
]
|
| 582 |
+
}
|
| 583 |
+
},
|
| 584 |
+
"grasp_33": {
|
| 585 |
+
"confidence": 0.6458097696304321,
|
| 586 |
+
"position": [
|
| 587 |
+
0.0009196269093081355,
|
| 588 |
+
0.02257988607743755,
|
| 589 |
+
0.13917774992296472
|
| 590 |
+
],
|
| 591 |
+
"orientation": {
|
| 592 |
+
"w": 0.0908470707182371,
|
| 593 |
+
"xyz": [
|
| 594 |
+
0.9955582005694827,
|
| 595 |
+
0.024487354950078963,
|
| 596 |
+
0.0033239236330528743
|
| 597 |
+
]
|
| 598 |
+
}
|
| 599 |
+
},
|
| 600 |
+
"grasp_34": {
|
| 601 |
+
"confidence": 0.619949996471405,
|
| 602 |
+
"position": [
|
| 603 |
+
0.0008678687736392021,
|
| 604 |
+
0.04486078774789348,
|
| 605 |
+
0.1331309928209521
|
| 606 |
+
],
|
| 607 |
+
"orientation": {
|
| 608 |
+
"w": 0.2439588650913884,
|
| 609 |
+
"xyz": [
|
| 610 |
+
0.969286897041919,
|
| 611 |
+
0.030892063070334375,
|
| 612 |
+
0.0035586240920530737
|
| 613 |
+
]
|
| 614 |
+
}
|
| 615 |
+
},
|
| 616 |
+
"grasp_35": {
|
| 617 |
+
"confidence": 0.616714358329773,
|
| 618 |
+
"position": [
|
| 619 |
+
-0.0019855692517012358,
|
| 620 |
+
-0.00402766460319981,
|
| 621 |
+
0.14103312330553308
|
| 622 |
+
],
|
| 623 |
+
"orientation": {
|
| 624 |
+
"w": 6.82314244061188e-05,
|
| 625 |
+
"xyz": [
|
| 626 |
+
0.9999565604662013,
|
| 627 |
+
-0.008427701206426753,
|
| 628 |
+
-0.0039807508654206925
|
| 629 |
+
]
|
| 630 |
+
}
|
| 631 |
+
},
|
| 632 |
+
"grasp_36": {
|
| 633 |
+
"confidence": 0.6099485754966736,
|
| 634 |
+
"position": [
|
| 635 |
+
-0.002313682227395475,
|
| 636 |
+
0.04245828842977062,
|
| 637 |
+
0.1338556213886477
|
| 638 |
+
],
|
| 639 |
+
"orientation": {
|
| 640 |
+
"w": 0.23599013595663637,
|
| 641 |
+
"xyz": [
|
| 642 |
+
0.97114860479477,
|
| 643 |
+
0.03181583342185906,
|
| 644 |
+
0.012914947929143649
|
| 645 |
+
]
|
| 646 |
+
}
|
| 647 |
+
},
|
| 648 |
+
"grasp_37": {
|
| 649 |
+
"confidence": 0.5953900814056396,
|
| 650 |
+
"position": [
|
| 651 |
+
-0.002773175132460892,
|
| 652 |
+
0.10728060832479969,
|
| 653 |
+
0.04497457580873743
|
| 654 |
+
],
|
| 655 |
+
"orientation": {
|
| 656 |
+
"w": 0.007771250378500802,
|
| 657 |
+
"xyz": [
|
| 658 |
+
-0.0012389001613782116,
|
| 659 |
+
0.7224485866179443,
|
| 660 |
+
-0.6913798612106661
|
| 661 |
+
]
|
| 662 |
+
}
|
| 663 |
+
},
|
| 664 |
+
"grasp_38": {
|
| 665 |
+
"confidence": 0.5895066857337952,
|
| 666 |
+
"position": [
|
| 667 |
+
-0.002496879664249718,
|
| 668 |
+
0.046930089651141316,
|
| 669 |
+
0.12946585851022974
|
| 670 |
+
],
|
| 671 |
+
"orientation": {
|
| 672 |
+
"w": 0.24993167800188895,
|
| 673 |
+
"xyz": [
|
| 674 |
+
0.9674262342737665,
|
| 675 |
+
0.03423760033807988,
|
| 676 |
+
0.021176031099564806
|
| 677 |
+
]
|
| 678 |
+
}
|
| 679 |
+
},
|
| 680 |
+
"grasp_39": {
|
| 681 |
+
"confidence": 0.5792377591133118,
|
| 682 |
+
"position": [
|
| 683 |
+
-0.0012385808513499796,
|
| 684 |
+
-0.013814161473419517,
|
| 685 |
+
0.14075979130575433
|
| 686 |
+
],
|
| 687 |
+
"orientation": {
|
| 688 |
+
"w": 0.052956072860076954,
|
| 689 |
+
"xyz": [
|
| 690 |
+
-0.9985850856666647,
|
| 691 |
+
-0.003483585831526373,
|
| 692 |
+
-0.0033683320936117576
|
| 693 |
+
]
|
| 694 |
+
}
|
| 695 |
+
}
|
| 696 |
+
}
|
| 697 |
+
},
|
| 698 |
+
{
|
| 699 |
+
"part_name": "top circular label area",
|
| 700 |
+
"mask_color": "Green",
|
| 701 |
+
"graspable": false,
|
| 702 |
+
"grasp_scenarios": [],
|
| 703 |
+
"functional_labels": [
|
| 704 |
+
"display branding",
|
| 705 |
+
"identify product type",
|
| 706 |
+
"provide visual labeling"
|
| 707 |
+
],
|
| 708 |
+
"semantic_description": "Small blue circular printed label areas on the upper sloped faces, flat and smooth against the paperboard surface, serving as visible product markings near the top.",
|
| 709 |
+
"id": 1,
|
| 710 |
+
"grasp_group": {}
|
| 711 |
+
}
|
| 712 |
+
],
|
| 713 |
+
"quality_check": {
|
| 714 |
+
"success": true,
|
| 715 |
+
"message": "YES"
|
| 716 |
+
}
|
| 717 |
+
}
|
dataset/food/beverages/ab394336079459deaa0a55d537b05280/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0a53562d4dc05d7afd1c2345c416bb148a360013b0027492af9682baab04e0d7
|
| 3 |
+
size 3784116
|
dataset/food/beverages/ab394336079459deaa0a55d537b05280/milk_carton_017.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>
|