Add asset food/snack/21ae1735882f5d59a68fcee8a12606a2
Browse files
.gitattributes
CHANGED
|
@@ -6858,3 +6858,4 @@ dataset/food/ingredients/f8ee460103145500805dee37553b1fdb/affordance/mesh_part_s
|
|
| 6858 |
dataset/food/snack/1c48c47e83c5593e8d38adb630f6fb7d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6859 |
dataset/food/snack/1dda1b316dca5834b8cf91a767cb4347/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6860 |
dataset/food/snack/21465c41fd6f545aaaf0818652a5ef39/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 6858 |
dataset/food/snack/1c48c47e83c5593e8d38adb630f6fb7d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6859 |
dataset/food/snack/1dda1b316dca5834b8cf91a767cb4347/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6860 |
dataset/food/snack/21465c41fd6f545aaaf0818652a5ef39/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6861 |
+
dataset/food/snack/21ae1735882f5d59a68fcee8a12606a2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/food/snack/21ae1735882f5d59a68fcee8a12606a2/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,705 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "bottle body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the bottle body to pick up and move the container",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the bottle body while unscrewing or tightening the cap",
|
| 14 |
+
"confidence": 0.92
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the body to tilt and dispense contents after opening",
|
| 18 |
+
"confidence": 0.8
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main container",
|
| 23 |
+
"support grasping",
|
| 24 |
+
"hold contents",
|
| 25 |
+
"stabilize during opening",
|
| 26 |
+
"enable pouring or shaking"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Small rounded plastic bottle body with a smooth semi-gloss finish, mostly light grayish white on the upper section and pale pink around the lower section/base. It forms the main container beneath the cap, with a printed front label attached on one side.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
+
"confidence": 0.9678872227668762,
|
| 33 |
+
"position": [
|
| 34 |
+
0.0555901454645209,
|
| 35 |
+
0.0751881807409518,
|
| 36 |
+
0.08810932096093893
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.5056469821178016,
|
| 40 |
+
"xyz": [
|
| 41 |
+
0.8176862138462242,
|
| 42 |
+
-0.19786229603986016,
|
| 43 |
+
-0.19120903997149766
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_1": {
|
| 48 |
+
"confidence": 0.9666792750358582,
|
| 49 |
+
"position": [
|
| 50 |
+
-0.00973688141675666,
|
| 51 |
+
0.09519784742224147,
|
| 52 |
+
0.0895083611831069
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.554583102651977,
|
| 56 |
+
"xyz": [
|
| 57 |
+
0.8302993185890942,
|
| 58 |
+
0.046183610820664134,
|
| 59 |
+
0.03012802507563466
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_2": {
|
| 64 |
+
"confidence": 0.9617449641227722,
|
| 65 |
+
"position": [
|
| 66 |
+
0.06758588569937274,
|
| 67 |
+
0.06631800376999308,
|
| 68 |
+
0.07962903287261724
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.5325768882558044,
|
| 72 |
+
"xyz": [
|
| 73 |
+
0.7587144261305135,
|
| 74 |
+
-0.29051671117026,
|
| 75 |
+
-0.23730638046210548
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_3": {
|
| 80 |
+
"confidence": 0.9608660936355591,
|
| 81 |
+
"position": [
|
| 82 |
+
0.045186817820649594,
|
| 83 |
+
0.08183424019443919,
|
| 84 |
+
0.07383025344461203
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.14310501998699804,
|
| 88 |
+
"xyz": [
|
| 89 |
+
-0.2215630254929321,
|
| 90 |
+
-0.7561034886579571,
|
| 91 |
+
0.5989476549985031
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_4": {
|
| 96 |
+
"confidence": 0.9580488801002502,
|
| 97 |
+
"position": [
|
| 98 |
+
0.09072162228403613,
|
| 99 |
+
0.044773074176191585,
|
| 100 |
+
0.05254508089274168
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.5853675779233906,
|
| 104 |
+
"xyz": [
|
| 105 |
+
0.6208614309550994,
|
| 106 |
+
-0.34796409095161596,
|
| 107 |
+
-0.3883257314120524
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_5": {
|
| 112 |
+
"confidence": 0.9579156041145325,
|
| 113 |
+
"position": [
|
| 114 |
+
0.08676412719069049,
|
| 115 |
+
-0.038138998363137944,
|
| 116 |
+
0.09008196648210287
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.4392272810606506,
|
| 120 |
+
"xyz": [
|
| 121 |
+
-0.7142858316057615,
|
| 122 |
+
-0.4453228761652961,
|
| 123 |
+
0.31394694185992994
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_6": {
|
| 128 |
+
"confidence": 0.956813633441925,
|
| 129 |
+
"position": [
|
| 130 |
+
0.035596106376033276,
|
| 131 |
+
-0.09942560798299382,
|
| 132 |
+
0.048793829046189785
|
| 133 |
+
],
|
| 134 |
+
"orientation": {
|
| 135 |
+
"w": 0.6890632213949207,
|
| 136 |
+
"xyz": [
|
| 137 |
+
-0.702312437947572,
|
| 138 |
+
-0.0920014814763146,
|
| 139 |
+
0.15324765522237643
|
| 140 |
+
]
|
| 141 |
+
}
|
| 142 |
+
},
|
| 143 |
+
"grasp_7": {
|
| 144 |
+
"confidence": 0.9567850232124329,
|
| 145 |
+
"position": [
|
| 146 |
+
0.08895788359222934,
|
| 147 |
+
-0.02301285198700498,
|
| 148 |
+
0.09719550516456366
|
| 149 |
+
],
|
| 150 |
+
"orientation": {
|
| 151 |
+
"w": 0.39368819292537316,
|
| 152 |
+
"xyz": [
|
| 153 |
+
-0.6815581205346051,
|
| 154 |
+
-0.5246672460459234,
|
| 155 |
+
0.3243646343408556
|
| 156 |
+
]
|
| 157 |
+
}
|
| 158 |
+
},
|
| 159 |
+
"grasp_8": {
|
| 160 |
+
"confidence": 0.9562813639640808,
|
| 161 |
+
"position": [
|
| 162 |
+
0.0065983577514998615,
|
| 163 |
+
-0.10783716446530889,
|
| 164 |
+
0.05385319795459509
|
| 165 |
+
],
|
| 166 |
+
"orientation": {
|
| 167 |
+
"w": 0.7054640940612824,
|
| 168 |
+
"xyz": [
|
| 169 |
+
-0.7078734360387761,
|
| 170 |
+
-8.61887373831971e-05,
|
| 171 |
+
0.035151146673367925
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
},
|
| 175 |
+
"grasp_9": {
|
| 176 |
+
"confidence": 0.9559951424598694,
|
| 177 |
+
"position": [
|
| 178 |
+
0.10250286030350253,
|
| 179 |
+
0.015409902047395008,
|
| 180 |
+
0.04813196789473295
|
| 181 |
+
],
|
| 182 |
+
"orientation": {
|
| 183 |
+
"w": 0.4245145108469194,
|
| 184 |
+
"xyz": [
|
| 185 |
+
-0.4944873068365632,
|
| 186 |
+
-0.5243584380516882,
|
| 187 |
+
0.5480127388135401
|
| 188 |
+
]
|
| 189 |
+
}
|
| 190 |
+
},
|
| 191 |
+
"grasp_10": {
|
| 192 |
+
"confidence": 0.9558218717575073,
|
| 193 |
+
"position": [
|
| 194 |
+
-0.009752121579367667,
|
| 195 |
+
-0.10091781026494573,
|
| 196 |
+
0.0691507114097476
|
| 197 |
+
],
|
| 198 |
+
"orientation": {
|
| 199 |
+
"w": 0.641085269058152,
|
| 200 |
+
"xyz": [
|
| 201 |
+
-0.7651075109823923,
|
| 202 |
+
0.057588536770043386,
|
| 203 |
+
-0.017427990924112735
|
| 204 |
+
]
|
| 205 |
+
}
|
| 206 |
+
},
|
| 207 |
+
"grasp_11": {
|
| 208 |
+
"confidence": 0.9558085799217224,
|
| 209 |
+
"position": [
|
| 210 |
+
-0.02398864721180871,
|
| 211 |
+
-0.10079408592355321,
|
| 212 |
+
0.044504920952022076
|
| 213 |
+
],
|
| 214 |
+
"orientation": {
|
| 215 |
+
"w": 0.7195526071162601,
|
| 216 |
+
"xyz": [
|
| 217 |
+
-0.6799700367772051,
|
| 218 |
+
0.11942011724789081,
|
| 219 |
+
-0.07499086793670294
|
| 220 |
+
]
|
| 221 |
+
}
|
| 222 |
+
},
|
| 223 |
+
"grasp_12": {
|
| 224 |
+
"confidence": 0.9551759958267212,
|
| 225 |
+
"position": [
|
| 226 |
+
0.08393231796799228,
|
| 227 |
+
0.02171884508061339,
|
| 228 |
+
0.09761931654065847
|
| 229 |
+
],
|
| 230 |
+
"orientation": {
|
| 231 |
+
"w": 0.4072038783800819,
|
| 232 |
+
"xyz": [
|
| 233 |
+
0.6807437486365334,
|
| 234 |
+
-0.5247372216407755,
|
| 235 |
+
-0.3089074268275527
|
| 236 |
+
]
|
| 237 |
+
}
|
| 238 |
+
},
|
| 239 |
+
"grasp_13": {
|
| 240 |
+
"confidence": 0.9544392824172974,
|
| 241 |
+
"position": [
|
| 242 |
+
-0.09937280399026349,
|
| 243 |
+
-0.026128748122573597,
|
| 244 |
+
0.03801783639937639
|
| 245 |
+
],
|
| 246 |
+
"orientation": {
|
| 247 |
+
"w": 0.5624943033834613,
|
| 248 |
+
"xyz": [
|
| 249 |
+
-0.5412839332126967,
|
| 250 |
+
0.4590970585952753,
|
| 251 |
+
-0.4240775319397552
|
| 252 |
+
]
|
| 253 |
+
}
|
| 254 |
+
},
|
| 255 |
+
"grasp_14": {
|
| 256 |
+
"confidence": 0.9537599682807922,
|
| 257 |
+
"position": [
|
| 258 |
+
-0.09603147191228345,
|
| 259 |
+
-0.03792982331287931,
|
| 260 |
+
0.046825396828353405
|
| 261 |
+
],
|
| 262 |
+
"orientation": {
|
| 263 |
+
"w": 0.5919336184125931,
|
| 264 |
+
"xyz": [
|
| 265 |
+
-0.5627789963344708,
|
| 266 |
+
0.42508285280302804,
|
| 267 |
+
-0.3901268523577678
|
| 268 |
+
]
|
| 269 |
+
}
|
| 270 |
+
},
|
| 271 |
+
"grasp_15": {
|
| 272 |
+
"confidence": 0.9537221193313599,
|
| 273 |
+
"position": [
|
| 274 |
+
0.10113368945894763,
|
| 275 |
+
0.011734322953998344,
|
| 276 |
+
0.050997826270759106
|
| 277 |
+
],
|
| 278 |
+
"orientation": {
|
| 279 |
+
"w": 0.43002574539110133,
|
| 280 |
+
"xyz": [
|
| 281 |
+
-0.5153321663205109,
|
| 282 |
+
-0.506129076530864,
|
| 283 |
+
0.5416123840407014
|
| 284 |
+
]
|
| 285 |
+
}
|
| 286 |
+
},
|
| 287 |
+
"grasp_17": {
|
| 288 |
+
"confidence": 0.9531174898147583,
|
| 289 |
+
"position": [
|
| 290 |
+
0.05811887624440715,
|
| 291 |
+
0.06682700508463313,
|
| 292 |
+
0.09220404084771872
|
| 293 |
+
],
|
| 294 |
+
"orientation": {
|
| 295 |
+
"w": 0.4766425697734976,
|
| 296 |
+
"xyz": [
|
| 297 |
+
0.82079300924622,
|
| 298 |
+
-0.23149876316633067,
|
| 299 |
+
-0.21335186735697964
|
| 300 |
+
]
|
| 301 |
+
}
|
| 302 |
+
},
|
| 303 |
+
"grasp_18": {
|
| 304 |
+
"confidence": 0.9531002640724182,
|
| 305 |
+
"position": [
|
| 306 |
+
0.09724804776487872,
|
| 307 |
+
0.0022173876241140533,
|
| 308 |
+
0.0780891990289092
|
| 309 |
+
],
|
| 310 |
+
"orientation": {
|
| 311 |
+
"w": 0.38654546035875165,
|
| 312 |
+
"xyz": [
|
| 313 |
+
-0.584781925631697,
|
| 314 |
+
-0.5682277915779811,
|
| 315 |
+
0.4309639003547006
|
| 316 |
+
]
|
| 317 |
+
}
|
| 318 |
+
},
|
| 319 |
+
"grasp_19": {
|
| 320 |
+
"confidence": 0.9528632760047913,
|
| 321 |
+
"position": [
|
| 322 |
+
-0.0910579485935159,
|
| 323 |
+
-0.005477105889440281,
|
| 324 |
+
0.09256345685571432
|
| 325 |
+
],
|
| 326 |
+
"orientation": {
|
| 327 |
+
"w": 0.3709298972712395,
|
| 328 |
+
"xyz": [
|
| 329 |
+
0.5470899712530645,
|
| 330 |
+
0.6605060491900376,
|
| 331 |
+
0.35613948622419916
|
| 332 |
+
]
|
| 333 |
+
}
|
| 334 |
+
}
|
| 335 |
+
}
|
| 336 |
+
},
|
| 337 |
+
{
|
| 338 |
+
"part_name": "screw cap",
|
| 339 |
+
"mask_color": "Yellow",
|
| 340 |
+
"graspable": true,
|
| 341 |
+
"grasp_scenarios": [
|
| 342 |
+
{
|
| 343 |
+
"scenario": "grasp the cap to unscrew and open the bottle",
|
| 344 |
+
"confidence": 0.95
|
| 345 |
+
},
|
| 346 |
+
{
|
| 347 |
+
"scenario": "grasp the cap to tighten and close the bottle",
|
| 348 |
+
"confidence": 0.93
|
| 349 |
+
},
|
| 350 |
+
{
|
| 351 |
+
"scenario": "use a light grip on the cap to steady the top during manipulation",
|
| 352 |
+
"confidence": 0.58
|
| 353 |
+
}
|
| 354 |
+
],
|
| 355 |
+
"functional_labels": [
|
| 356 |
+
"close the container",
|
| 357 |
+
"enable opening",
|
| 358 |
+
"seal contents",
|
| 359 |
+
"provide twisting grip"
|
| 360 |
+
],
|
| 361 |
+
"semantic_description": "Short round pale pink plastic cap with a semi-gloss finish and fine vertical ribs around the side, positioned at the top as the threaded closure.",
|
| 362 |
+
"id": 3,
|
| 363 |
+
"grasp_group": {
|
| 364 |
+
"grasp_20": {
|
| 365 |
+
"confidence": 0.9699147939682007,
|
| 366 |
+
"position": [
|
| 367 |
+
0.04307436215458438,
|
| 368 |
+
0.0763519465290301,
|
| 369 |
+
0.10887712147086859
|
| 370 |
+
],
|
| 371 |
+
"orientation": {
|
| 372 |
+
"w": 0.13532554540793493,
|
| 373 |
+
"xyz": [
|
| 374 |
+
-0.2123355880765618,
|
| 375 |
+
-0.8278524415527941,
|
| 376 |
+
0.5012593438643348
|
| 377 |
+
]
|
| 378 |
+
}
|
| 379 |
+
},
|
| 380 |
+
"grasp_21": {
|
| 381 |
+
"confidence": 0.9596356749534607,
|
| 382 |
+
"position": [
|
| 383 |
+
-0.010338642459828407,
|
| 384 |
+
-0.08567881739509176,
|
| 385 |
+
0.11846721824258566
|
| 386 |
+
],
|
| 387 |
+
"orientation": {
|
| 388 |
+
"w": 0.48222458564392745,
|
| 389 |
+
"xyz": [
|
| 390 |
+
-0.8718792408393048,
|
| 391 |
+
0.08442512220504245,
|
| 392 |
+
-0.01258718136374794
|
| 393 |
+
]
|
| 394 |
+
}
|
| 395 |
+
},
|
| 396 |
+
"grasp_22": {
|
| 397 |
+
"confidence": 0.9498623013496399,
|
| 398 |
+
"position": [
|
| 399 |
+
-0.028025971550960094,
|
| 400 |
+
0.07860974812138011,
|
| 401 |
+
0.11590060498565435
|
| 402 |
+
],
|
| 403 |
+
"orientation": {
|
| 404 |
+
"w": 0.07862273214302998,
|
| 405 |
+
"xyz": [
|
| 406 |
+
-0.1373364655686715,
|
| 407 |
+
0.863390329444901,
|
| 408 |
+
-0.47907650770675003
|
| 409 |
+
]
|
| 410 |
+
}
|
| 411 |
+
},
|
| 412 |
+
"grasp_23": {
|
| 413 |
+
"confidence": 0.94793301820755,
|
| 414 |
+
"position": [
|
| 415 |
+
0.018956586893182248,
|
| 416 |
+
-0.08819650268924306,
|
| 417 |
+
0.11502647306770086
|
| 418 |
+
],
|
| 419 |
+
"orientation": {
|
| 420 |
+
"w": 0.04339519798347248,
|
| 421 |
+
"xyz": [
|
| 422 |
+
0.11941196523234175,
|
| 423 |
+
-0.8590099694695034,
|
| 424 |
+
-0.495943052883421
|
| 425 |
+
]
|
| 426 |
+
}
|
| 427 |
+
},
|
| 428 |
+
"grasp_24": {
|
| 429 |
+
"confidence": 0.94474858045578,
|
| 430 |
+
"position": [
|
| 431 |
+
0.001439794956240803,
|
| 432 |
+
0.08191452020037104,
|
| 433 |
+
0.11862075980752707
|
| 434 |
+
],
|
| 435 |
+
"orientation": {
|
| 436 |
+
"w": 0.023023193827352045,
|
| 437 |
+
"xyz": [
|
| 438 |
+
0.01979122743482784,
|
| 439 |
+
-0.876246013721281,
|
| 440 |
+
0.4809066055900834
|
| 441 |
+
]
|
| 442 |
+
}
|
| 443 |
+
},
|
| 444 |
+
"grasp_25": {
|
| 445 |
+
"confidence": 0.9423907399177551,
|
| 446 |
+
"position": [
|
| 447 |
+
0.03600982221541926,
|
| 448 |
+
-0.07165374762189458,
|
| 449 |
+
0.12409382965415716
|
| 450 |
+
],
|
| 451 |
+
"orientation": {
|
| 452 |
+
"w": 0.433889464540956,
|
| 453 |
+
"xyz": [
|
| 454 |
+
-0.8777940950909813,
|
| 455 |
+
-0.15428167890496808,
|
| 456 |
+
0.13196447528798122
|
| 457 |
+
]
|
| 458 |
+
}
|
| 459 |
+
},
|
| 460 |
+
"grasp_26": {
|
| 461 |
+
"confidence": 0.9420406222343445,
|
| 462 |
+
"position": [
|
| 463 |
+
0.02385748567758128,
|
| 464 |
+
-0.10146869129312108,
|
| 465 |
+
0.06154485326260328
|
| 466 |
+
],
|
| 467 |
+
"orientation": {
|
| 468 |
+
"w": 0.6975559731844726,
|
| 469 |
+
"xyz": [
|
| 470 |
+
-0.7054435433236876,
|
| 471 |
+
-0.07845342027868418,
|
| 472 |
+
0.09803128227336491
|
| 473 |
+
]
|
| 474 |
+
}
|
| 475 |
+
},
|
| 476 |
+
"grasp_27": {
|
| 477 |
+
"confidence": 0.9401422142982483,
|
| 478 |
+
"position": [
|
| 479 |
+
0.09020502882776782,
|
| 480 |
+
0.04402943172681262,
|
| 481 |
+
0.06829193141311407
|
| 482 |
+
],
|
| 483 |
+
"orientation": {
|
| 484 |
+
"w": 0.3412167100261022,
|
| 485 |
+
"xyz": [
|
| 486 |
+
-0.44018260065662346,
|
| 487 |
+
-0.5757313484048686,
|
| 488 |
+
0.5986182835013028
|
| 489 |
+
]
|
| 490 |
+
}
|
| 491 |
+
},
|
| 492 |
+
"grasp_28": {
|
| 493 |
+
"confidence": 0.9317232370376587,
|
| 494 |
+
"position": [
|
| 495 |
+
-0.09835776669206098,
|
| 496 |
+
-0.012410428065777523,
|
| 497 |
+
0.06553304102271795
|
| 498 |
+
],
|
| 499 |
+
"orientation": {
|
| 500 |
+
"w": 0.47115125238028394,
|
| 501 |
+
"xyz": [
|
| 502 |
+
0.46632565747070936,
|
| 503 |
+
0.5438594490822751,
|
| 504 |
+
0.5145617341086727
|
| 505 |
+
]
|
| 506 |
+
}
|
| 507 |
+
},
|
| 508 |
+
"grasp_29": {
|
| 509 |
+
"confidence": 0.9258542656898499,
|
| 510 |
+
"position": [
|
| 511 |
+
-0.09690292907180265,
|
| 512 |
+
0.005974231597065227,
|
| 513 |
+
0.07958227302879095
|
| 514 |
+
],
|
| 515 |
+
"orientation": {
|
| 516 |
+
"w": 0.45651272276339644,
|
| 517 |
+
"xyz": [
|
| 518 |
+
-0.5001459712073034,
|
| 519 |
+
0.5571491115796616,
|
| 520 |
+
-0.4806610124674641
|
| 521 |
+
]
|
| 522 |
+
}
|
| 523 |
+
},
|
| 524 |
+
"grasp_30": {
|
| 525 |
+
"confidence": 0.9252796173095703,
|
| 526 |
+
"position": [
|
| 527 |
+
-0.08875906449975446,
|
| 528 |
+
-0.01296303669732879,
|
| 529 |
+
0.11828622128814459
|
| 530 |
+
],
|
| 531 |
+
"orientation": {
|
| 532 |
+
"w": 0.3744740962734087,
|
| 533 |
+
"xyz": [
|
| 534 |
+
-0.6299854111486912,
|
| 535 |
+
0.6077964450085352,
|
| 536 |
+
-0.3057302968222394
|
| 537 |
+
]
|
| 538 |
+
}
|
| 539 |
+
},
|
| 540 |
+
"grasp_31": {
|
| 541 |
+
"confidence": 0.9209201335906982,
|
| 542 |
+
"position": [
|
| 543 |
+
0.0992818849044852,
|
| 544 |
+
-0.008652024593175156,
|
| 545 |
+
0.08018478658050299
|
| 546 |
+
],
|
| 547 |
+
"orientation": {
|
| 548 |
+
"w": 0.4592126380326826,
|
| 549 |
+
"xyz": [
|
| 550 |
+
-0.5777944801145273,
|
| 551 |
+
-0.4796552961990066,
|
| 552 |
+
0.4745609430289123
|
| 553 |
+
]
|
| 554 |
+
}
|
| 555 |
+
},
|
| 556 |
+
"grasp_32": {
|
| 557 |
+
"confidence": 0.9187504649162292,
|
| 558 |
+
"position": [
|
| 559 |
+
-0.021458856586832553,
|
| 560 |
+
-0.09937670982253621,
|
| 561 |
+
0.06422300916165113
|
| 562 |
+
],
|
| 563 |
+
"orientation": {
|
| 564 |
+
"w": 0.7090639594562332,
|
| 565 |
+
"xyz": [
|
| 566 |
+
-0.6950282850199357,
|
| 567 |
+
0.10952640058674379,
|
| 568 |
+
-0.04656127142817132
|
| 569 |
+
]
|
| 570 |
+
}
|
| 571 |
+
},
|
| 572 |
+
"grasp_33": {
|
| 573 |
+
"confidence": 0.9177961349487305,
|
| 574 |
+
"position": [
|
| 575 |
+
0.07932353037176654,
|
| 576 |
+
-0.04008546626937459,
|
| 577 |
+
0.11313339229673147
|
| 578 |
+
],
|
| 579 |
+
"orientation": {
|
| 580 |
+
"w": 0.24455476234484688,
|
| 581 |
+
"xyz": [
|
| 582 |
+
0.4703259064575502,
|
| 583 |
+
-0.7225244901247414,
|
| 584 |
+
-0.4437847125570243
|
| 585 |
+
]
|
| 586 |
+
}
|
| 587 |
+
},
|
| 588 |
+
"grasp_34": {
|
| 589 |
+
"confidence": 0.9112327098846436,
|
| 590 |
+
"position": [
|
| 591 |
+
0.08761724102078006,
|
| 592 |
+
0.04348614284026553,
|
| 593 |
+
0.07255089934915304
|
| 594 |
+
],
|
| 595 |
+
"orientation": {
|
| 596 |
+
"w": 0.32235041328762454,
|
| 597 |
+
"xyz": [
|
| 598 |
+
-0.419283535552519,
|
| 599 |
+
-0.5942347810167963,
|
| 600 |
+
0.6059509492506775
|
| 601 |
+
]
|
| 602 |
+
}
|
| 603 |
+
},
|
| 604 |
+
"grasp_35": {
|
| 605 |
+
"confidence": 0.9013523459434509,
|
| 606 |
+
"position": [
|
| 607 |
+
0.04053250345168635,
|
| 608 |
+
0.0902941136919253,
|
| 609 |
+
0.07404018100351095
|
| 610 |
+
],
|
| 611 |
+
"orientation": {
|
| 612 |
+
"w": 0.6689326167016721,
|
| 613 |
+
"xyz": [
|
| 614 |
+
0.7135428194513661,
|
| 615 |
+
-0.13889879101001756,
|
| 616 |
+
-0.15521895817845405
|
| 617 |
+
]
|
| 618 |
+
}
|
| 619 |
+
},
|
| 620 |
+
"grasp_36": {
|
| 621 |
+
"confidence": 0.893646240234375,
|
| 622 |
+
"position": [
|
| 623 |
+
0.09319254773436114,
|
| 624 |
+
0.03194730573522975,
|
| 625 |
+
0.07680654432624578
|
| 626 |
+
],
|
| 627 |
+
"orientation": {
|
| 628 |
+
"w": 0.35325148437948917,
|
| 629 |
+
"xyz": [
|
| 630 |
+
-0.46546849209340213,
|
| 631 |
+
-0.5675548589344421,
|
| 632 |
+
0.5800292697372157
|
| 633 |
+
]
|
| 634 |
+
}
|
| 635 |
+
},
|
| 636 |
+
"grasp_37": {
|
| 637 |
+
"confidence": 0.8914063572883606,
|
| 638 |
+
"position": [
|
| 639 |
+
0.09038105624495074,
|
| 640 |
+
-0.04059979102385114,
|
| 641 |
+
0.07985965814441442
|
| 642 |
+
],
|
| 643 |
+
"orientation": {
|
| 644 |
+
"w": 0.3238977951402873,
|
| 645 |
+
"xyz": [
|
| 646 |
+
0.4353285095541394,
|
| 647 |
+
-0.6209184571910209,
|
| 648 |
+
-0.5657204049635776
|
| 649 |
+
]
|
| 650 |
+
}
|
| 651 |
+
},
|
| 652 |
+
"grasp_38": {
|
| 653 |
+
"confidence": 0.8892028331756592,
|
| 654 |
+
"position": [
|
| 655 |
+
-0.09984618407906964,
|
| 656 |
+
0.002390703262790339,
|
| 657 |
+
0.07386666443198919
|
| 658 |
+
],
|
| 659 |
+
"orientation": {
|
| 660 |
+
"w": 0.5108296217564555,
|
| 661 |
+
"xyz": [
|
| 662 |
+
0.5115111935812323,
|
| 663 |
+
0.5148549503375331,
|
| 664 |
+
0.46079689288253245
|
| 665 |
+
]
|
| 666 |
+
}
|
| 667 |
+
},
|
| 668 |
+
"grasp_39": {
|
| 669 |
+
"confidence": 0.8840990662574768,
|
| 670 |
+
"position": [
|
| 671 |
+
-0.016490273003000766,
|
| 672 |
+
-0.10407787716758321,
|
| 673 |
+
0.06992136593908072
|
| 674 |
+
],
|
| 675 |
+
"orientation": {
|
| 676 |
+
"w": 0.05308951912211036,
|
| 677 |
+
"xyz": [
|
| 678 |
+
0.058912293868890846,
|
| 679 |
+
0.7101488976904109,
|
| 680 |
+
0.6995708596701149
|
| 681 |
+
]
|
| 682 |
+
}
|
| 683 |
+
}
|
| 684 |
+
}
|
| 685 |
+
},
|
| 686 |
+
{
|
| 687 |
+
"part_name": "front label",
|
| 688 |
+
"mask_color": "Blue",
|
| 689 |
+
"graspable": false,
|
| 690 |
+
"grasp_scenarios": [],
|
| 691 |
+
"functional_labels": [
|
| 692 |
+
"display branding",
|
| 693 |
+
"show product information",
|
| 694 |
+
"indicate front orientation"
|
| 695 |
+
],
|
| 696 |
+
"semantic_description": "Thin glossy printed label, predominantly white with blue and pink graphics and Chinese text, adhered to one side of the bottle body.",
|
| 697 |
+
"id": 2,
|
| 698 |
+
"grasp_group": {}
|
| 699 |
+
}
|
| 700 |
+
],
|
| 701 |
+
"quality_check": {
|
| 702 |
+
"success": false,
|
| 703 |
+
"message": "Blue front label mask is incorrect; mask shows no distinct label part and only tiny stray fragments."
|
| 704 |
+
}
|
| 705 |
+
}
|
dataset/food/snack/21ae1735882f5d59a68fcee8a12606a2/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d0a035034164b4e99de46af4f41ab9f484ed60e5c0239fc434ef40bdf2081d2d
|
| 3 |
+
size 3781704
|
dataset/food/snack/21ae1735882f5d59a68fcee8a12606a2/chewing_gum_006.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>
|