Add asset food/snack/fd036c379c7b5305b78e4a6b1784151f
Browse files
.gitattributes
CHANGED
|
@@ -6899,4 +6899,5 @@ dataset/food/snack/e45ddb4b0d9b57948ffefa48132df0e9/affordance/mesh_part_seg.glb
|
|
| 6899 |
dataset/food/snack/ebda13bb5d8a5f2f90312e8c2e6e2494/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6900 |
dataset/food/snack/f3dcd469dc745903827e6f7ff7f91ba8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6901 |
dataset/food/snack/f4580209e4e75ad78bada63e06fa42d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6902 |
-
dataset/food/snack/
|
|
|
|
|
|
| 6899 |
dataset/food/snack/ebda13bb5d8a5f2f90312e8c2e6e2494/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6900 |
dataset/food/snack/f3dcd469dc745903827e6f7ff7f91ba8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6901 |
dataset/food/snack/f4580209e4e75ad78bada63e06fa42d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6902 |
+
dataset/food/snack/e5a80020438059e78337721402427957/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6903 |
+
dataset/food/snack/fd036c379c7b5305b78e4a6b1784151f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/food/snack/fd036c379c7b5305b78e4a6b1784151f/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,479 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "front panel of snack bag",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the broad front face to pick up the lightweight bag from a table",
|
| 10 |
+
"confidence": 0.83
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the front panel to stabilize the bag while repositioning it",
|
| 14 |
+
"confidence": 0.79
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pinch the flexible front panel to orient the package for inspection",
|
| 18 |
+
"confidence": 0.73
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain the snack",
|
| 23 |
+
"provide main package surface",
|
| 24 |
+
"display product branding",
|
| 25 |
+
"offer broad grasp surface"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large glossy printed plastic film panel on the front of the package, mostly yellow with an orange section near one end, showing prominent product graphics, text, and snack-stick images.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_2": {
|
| 31 |
+
"confidence": 0.22277943789958954,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.03224504552781582,
|
| 34 |
+
0.0052547744126059115,
|
| 35 |
+
0.11006500266375951
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.015608467394049037,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.7139092480624402,
|
| 41 |
+
-0.6999742073219634,
|
| 42 |
+
0.01122810582953118
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_3": {
|
| 47 |
+
"confidence": 0.17909978330135345,
|
| 48 |
+
"position": [
|
| 49 |
+
0.0609439667314291,
|
| 50 |
+
-0.010567269229795784,
|
| 51 |
+
0.10500474713626318
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.05825267036836484,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.6860882977089179,
|
| 57 |
+
-0.7192000492694007,
|
| 58 |
+
-0.09295570597185367
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_13": {
|
| 63 |
+
"confidence": 0.3714309632778168,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.007634204812347889,
|
| 66 |
+
-0.017373885901179165,
|
| 67 |
+
0.1064000248152297
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.012946884689126753,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.7218571440048456,
|
| 73 |
+
-0.6889280637185643,
|
| 74 |
+
-0.06428658372478507
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_14": {
|
| 79 |
+
"confidence": 0.35967105627059937,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.03513450734317303,
|
| 82 |
+
0.0026192202349193394,
|
| 83 |
+
0.09552662514033727
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.1662092243512298,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.6795384447911477,
|
| 89 |
+
0.6955762183371673,
|
| 90 |
+
-0.16363288262191117
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_15": {
|
| 95 |
+
"confidence": 0.2807678282260895,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.02291415072977543,
|
| 98 |
+
0.006068341957870871,
|
| 99 |
+
0.10722575031104498
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.05619837475893746,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.7243387224529906,
|
| 105 |
+
0.6867678859019325,
|
| 106 |
+
0.022913505262488035
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_16": {
|
| 111 |
+
"confidence": 0.28065556287765503,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.001892424188554287,
|
| 114 |
+
0.002165985817555338,
|
| 115 |
+
0.1066804870206397
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.021141698274298685,
|
| 119 |
+
"xyz": [
|
| 120 |
+
0.7182844913797132,
|
| 121 |
+
0.6952797893338853,
|
| 122 |
+
0.014367761874893007
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_17": {
|
| 127 |
+
"confidence": 0.26067960262298584,
|
| 128 |
+
"position": [
|
| 129 |
+
0.021148061379790306,
|
| 130 |
+
-0.010490236745681614,
|
| 131 |
+
0.10686423323932104
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.039047278844946014,
|
| 135 |
+
"xyz": [
|
| 136 |
+
-0.6949938161638336,
|
| 137 |
+
-0.717700482124897,
|
| 138 |
+
-0.019102970097009613
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_18": {
|
| 143 |
+
"confidence": 0.25506582856178284,
|
| 144 |
+
"position": [
|
| 145 |
+
0.018863128498196602,
|
| 146 |
+
-0.0029015952604822814,
|
| 147 |
+
0.10472100667539053
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.08281862038006714,
|
| 151 |
+
"xyz": [
|
| 152 |
+
-0.6841536267697124,
|
| 153 |
+
0.7232626968398159,
|
| 154 |
+
-0.04433917518614613
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_19": {
|
| 159 |
+
"confidence": 0.2522628903388977,
|
| 160 |
+
"position": [
|
| 161 |
+
-0.05358934588730335,
|
| 162 |
+
0.008448761946056038,
|
| 163 |
+
0.10018303684773855
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.12217151100631769,
|
| 167 |
+
"xyz": [
|
| 168 |
+
-0.6947509656322409,
|
| 169 |
+
0.693782289105891,
|
| 170 |
+
-0.14512530094539486
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
}
|
| 174 |
+
}
|
| 175 |
+
},
|
| 176 |
+
{
|
| 177 |
+
"part_name": "back panel of snack bag",
|
| 178 |
+
"mask_color": "Green",
|
| 179 |
+
"graspable": true,
|
| 180 |
+
"grasp_scenarios": [
|
| 181 |
+
{
|
| 182 |
+
"scenario": "grasp the broad back face to lift or move the bag",
|
| 183 |
+
"confidence": 0.81
|
| 184 |
+
},
|
| 185 |
+
{
|
| 186 |
+
"scenario": "hold the back panel to stabilize the bag while reading or scanning the package",
|
| 187 |
+
"confidence": 0.76
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"scenario": "pinch the back panel to rotate the bag and expose another side",
|
| 191 |
+
"confidence": 0.71
|
| 192 |
+
}
|
| 193 |
+
],
|
| 194 |
+
"functional_labels": [
|
| 195 |
+
"contain the snack",
|
| 196 |
+
"provide rear package surface",
|
| 197 |
+
"carry product information",
|
| 198 |
+
"offer broad grasp surface"
|
| 199 |
+
],
|
| 200 |
+
"semantic_description": "Large glossy printed plastic film panel on the back of the package, predominantly yellow with an orange end section and multiple black text blocks, QR/barcode-style markings, and product information.",
|
| 201 |
+
"id": 1,
|
| 202 |
+
"grasp_group": {
|
| 203 |
+
"grasp_20": {
|
| 204 |
+
"confidence": 0.3152769207954407,
|
| 205 |
+
"position": [
|
| 206 |
+
-0.013946453109383583,
|
| 207 |
+
0.00014378235209733248,
|
| 208 |
+
-0.1046019003551919
|
| 209 |
+
],
|
| 210 |
+
"orientation": {
|
| 211 |
+
"w": 0.716664394087581,
|
| 212 |
+
"xyz": [
|
| 213 |
+
0.026284764986350777,
|
| 214 |
+
0.011364918375927235,
|
| 215 |
+
0.6968300338009268
|
| 216 |
+
]
|
| 217 |
+
}
|
| 218 |
+
},
|
| 219 |
+
"grasp_21": {
|
| 220 |
+
"confidence": 0.3017221689224243,
|
| 221 |
+
"position": [
|
| 222 |
+
0.053294019773602486,
|
| 223 |
+
0.00739746872568503,
|
| 224 |
+
-0.09390414811787196
|
| 225 |
+
],
|
| 226 |
+
"orientation": {
|
| 227 |
+
"w": 0.6938245867206366,
|
| 228 |
+
"xyz": [
|
| 229 |
+
0.19420726975907554,
|
| 230 |
+
-0.14744514834963895,
|
| 231 |
+
-0.6776067498651531
|
| 232 |
+
]
|
| 233 |
+
}
|
| 234 |
+
},
|
| 235 |
+
"grasp_23": {
|
| 236 |
+
"confidence": 0.16768155992031097,
|
| 237 |
+
"position": [
|
| 238 |
+
0.041866736486554146,
|
| 239 |
+
-0.009171546378638595,
|
| 240 |
+
-0.10837864436325617
|
| 241 |
+
],
|
| 242 |
+
"orientation": {
|
| 243 |
+
"w": 0.6920748340885206,
|
| 244 |
+
"xyz": [
|
| 245 |
+
0.009990583365870708,
|
| 246 |
+
-0.025413504299222067,
|
| 247 |
+
-0.7213090641774784
|
| 248 |
+
]
|
| 249 |
+
}
|
| 250 |
+
},
|
| 251 |
+
"grasp_24": {
|
| 252 |
+
"confidence": 0.16335195302963257,
|
| 253 |
+
"position": [
|
| 254 |
+
0.061827221885323524,
|
| 255 |
+
-0.0011953391949646175,
|
| 256 |
+
-0.10634958304581232
|
| 257 |
+
],
|
| 258 |
+
"orientation": {
|
| 259 |
+
"w": 0.6996095266293467,
|
| 260 |
+
"xyz": [
|
| 261 |
+
0.044180509489831994,
|
| 262 |
+
-0.03344228876223354,
|
| 263 |
+
-0.7123736422363083
|
| 264 |
+
]
|
| 265 |
+
}
|
| 266 |
+
},
|
| 267 |
+
"grasp_27": {
|
| 268 |
+
"confidence": 0.11493092775344849,
|
| 269 |
+
"position": [
|
| 270 |
+
0.10247148387134075,
|
| 271 |
+
0.004057506623212248,
|
| 272 |
+
-0.09030524946865626
|
| 273 |
+
],
|
| 274 |
+
"orientation": {
|
| 275 |
+
"w": 0.6586831852097591,
|
| 276 |
+
"xyz": [
|
| 277 |
+
-0.1667844788069975,
|
| 278 |
+
-0.18686258123177768,
|
| 279 |
+
0.7095081217903015
|
| 280 |
+
]
|
| 281 |
+
}
|
| 282 |
+
},
|
| 283 |
+
"grasp_28": {
|
| 284 |
+
"confidence": 0.10068434476852417,
|
| 285 |
+
"position": [
|
| 286 |
+
-0.10675276257097721,
|
| 287 |
+
0.008356249483767897,
|
| 288 |
+
-0.06986300952848978
|
| 289 |
+
],
|
| 290 |
+
"orientation": {
|
| 291 |
+
"w": 0.6229548168756854,
|
| 292 |
+
"xyz": [
|
| 293 |
+
-0.26670966451280365,
|
| 294 |
+
0.30621451564785607,
|
| 295 |
+
-0.6685999711287745
|
| 296 |
+
]
|
| 297 |
+
}
|
| 298 |
+
},
|
| 299 |
+
"grasp_31": {
|
| 300 |
+
"confidence": 0.30824247002601624,
|
| 301 |
+
"position": [
|
| 302 |
+
-0.008015472441911697,
|
| 303 |
+
-0.0076680611236952245,
|
| 304 |
+
-0.10323956914362498
|
| 305 |
+
],
|
| 306 |
+
"orientation": {
|
| 307 |
+
"w": 0.7059773169756823,
|
| 308 |
+
"xyz": [
|
| 309 |
+
0.016307387911839357,
|
| 310 |
+
0.028767422806760923,
|
| 311 |
+
0.7074620360134997
|
| 312 |
+
]
|
| 313 |
+
}
|
| 314 |
+
},
|
| 315 |
+
"grasp_32": {
|
| 316 |
+
"confidence": 0.2968001663684845,
|
| 317 |
+
"position": [
|
| 318 |
+
-0.0037371981889009476,
|
| 319 |
+
0.005597733485046774,
|
| 320 |
+
-0.10292136229691096
|
| 321 |
+
],
|
| 322 |
+
"orientation": {
|
| 323 |
+
"w": 0.7112742487114335,
|
| 324 |
+
"xyz": [
|
| 325 |
+
0.02134279257229162,
|
| 326 |
+
-0.024592312529405747,
|
| 327 |
+
0.7021599863917465
|
| 328 |
+
]
|
| 329 |
+
}
|
| 330 |
+
},
|
| 331 |
+
"grasp_33": {
|
| 332 |
+
"confidence": 0.2933822274208069,
|
| 333 |
+
"position": [
|
| 334 |
+
-0.02174581214785576,
|
| 335 |
+
-0.0010635015205480158,
|
| 336 |
+
-0.10314155675587244
|
| 337 |
+
],
|
| 338 |
+
"orientation": {
|
| 339 |
+
"w": 0.7223585585650664,
|
| 340 |
+
"xyz": [
|
| 341 |
+
0.024695569837190377,
|
| 342 |
+
0.013937636817538901,
|
| 343 |
+
0.6909370332947556
|
| 344 |
+
]
|
| 345 |
+
}
|
| 346 |
+
},
|
| 347 |
+
"grasp_35": {
|
| 348 |
+
"confidence": 0.266947865486145,
|
| 349 |
+
"position": [
|
| 350 |
+
0.01936870813369751,
|
| 351 |
+
-0.0005061108968220651,
|
| 352 |
+
-0.09950992025551386
|
| 353 |
+
],
|
| 354 |
+
"orientation": {
|
| 355 |
+
"w": 0.69844107744515,
|
| 356 |
+
"xyz": [
|
| 357 |
+
0.08528471882645988,
|
| 358 |
+
-0.08098524651469574,
|
| 359 |
+
-0.7059376515804378
|
| 360 |
+
]
|
| 361 |
+
}
|
| 362 |
+
},
|
| 363 |
+
"grasp_36": {
|
| 364 |
+
"confidence": 0.26165932416915894,
|
| 365 |
+
"position": [
|
| 366 |
+
-0.0009872440714389086,
|
| 367 |
+
0.0008636893471702933,
|
| 368 |
+
-0.1029595092695672
|
| 369 |
+
],
|
| 370 |
+
"orientation": {
|
| 371 |
+
"w": 0.7145325079233569,
|
| 372 |
+
"xyz": [
|
| 373 |
+
0.02368079188586054,
|
| 374 |
+
0.00946942516203364,
|
| 375 |
+
0.6991372148609434
|
| 376 |
+
]
|
| 377 |
+
}
|
| 378 |
+
},
|
| 379 |
+
"grasp_37": {
|
| 380 |
+
"confidence": 0.26160168647766113,
|
| 381 |
+
"position": [
|
| 382 |
+
0.057102980092167854,
|
| 383 |
+
0.006812145060393959,
|
| 384 |
+
-0.09171227671322413
|
| 385 |
+
],
|
| 386 |
+
"orientation": {
|
| 387 |
+
"w": 0.6875178904629264,
|
| 388 |
+
"xyz": [
|
| 389 |
+
-0.14100895759653811,
|
| 390 |
+
-0.1978303598056571,
|
| 391 |
+
0.6843235878662299
|
| 392 |
+
]
|
| 393 |
+
}
|
| 394 |
+
},
|
| 395 |
+
"grasp_38": {
|
| 396 |
+
"confidence": 0.2537137567996979,
|
| 397 |
+
"position": [
|
| 398 |
+
0.04067348875105381,
|
| 399 |
+
0.008358219696674496,
|
| 400 |
+
-0.1017335013311822
|
| 401 |
+
],
|
| 402 |
+
"orientation": {
|
| 403 |
+
"w": 0.6984832658144505,
|
| 404 |
+
"xyz": [
|
| 405 |
+
0.054979221454909896,
|
| 406 |
+
-0.00351078130400162,
|
| 407 |
+
-0.7135026888526962
|
| 408 |
+
]
|
| 409 |
+
}
|
| 410 |
+
}
|
| 411 |
+
}
|
| 412 |
+
},
|
| 413 |
+
{
|
| 414 |
+
"part_name": "top sealed edge",
|
| 415 |
+
"mask_color": "Blue",
|
| 416 |
+
"graspable": true,
|
| 417 |
+
"grasp_scenarios": [
|
| 418 |
+
{
|
| 419 |
+
"scenario": "pinch the sealed top edge to lift the lightweight bag",
|
| 420 |
+
"confidence": 0.7
|
| 421 |
+
},
|
| 422 |
+
{
|
| 423 |
+
"scenario": "grasp the top seam to stabilize the bag during placement or reorientation",
|
| 424 |
+
"confidence": 0.66
|
| 425 |
+
}
|
| 426 |
+
],
|
| 427 |
+
"functional_labels": [
|
| 428 |
+
"seal the package",
|
| 429 |
+
"join front and back panels",
|
| 430 |
+
"provide structural edge"
|
| 431 |
+
],
|
| 432 |
+
"semantic_description": "Narrow crimped heat-sealed plastic seam along one short end of the bag, slightly thicker and stiffer than the main film, with a ribbed glossy finish.",
|
| 433 |
+
"id": 2,
|
| 434 |
+
"grasp_group": {}
|
| 435 |
+
},
|
| 436 |
+
{
|
| 437 |
+
"part_name": "side sealed edge",
|
| 438 |
+
"mask_color": "Orange",
|
| 439 |
+
"graspable": true,
|
| 440 |
+
"grasp_scenarios": [
|
| 441 |
+
{
|
| 442 |
+
"scenario": "pinch a side seam to turn or reposition the bag",
|
| 443 |
+
"confidence": 0.64
|
| 444 |
+
},
|
| 445 |
+
{
|
| 446 |
+
"scenario": "hold the side edge while pulling the package into view",
|
| 447 |
+
"confidence": 0.58
|
| 448 |
+
}
|
| 449 |
+
],
|
| 450 |
+
"functional_labels": [
|
| 451 |
+
"seal the package side",
|
| 452 |
+
"join front and back panels",
|
| 453 |
+
"provide edge stiffness",
|
| 454 |
+
"define package outline"
|
| 455 |
+
],
|
| 456 |
+
"semantic_description": "Thin crimped plastic seam running along a side edge of the package, with a glossy ribbed finish and slightly stiffer structure than the broad panels.",
|
| 457 |
+
"id": 4,
|
| 458 |
+
"grasp_group": {}
|
| 459 |
+
},
|
| 460 |
+
{
|
| 461 |
+
"part_name": "back center seam",
|
| 462 |
+
"mask_color": "Yellow",
|
| 463 |
+
"graspable": false,
|
| 464 |
+
"grasp_scenarios": [],
|
| 465 |
+
"functional_labels": [
|
| 466 |
+
"bond the rear film layers",
|
| 467 |
+
"maintain package shape",
|
| 468 |
+
"indicate package centerline"
|
| 469 |
+
],
|
| 470 |
+
"semantic_description": "Very narrow vertical bonded seam on the back panel, visible as a thin line near the center with a slightly raised glossy plastic finish.",
|
| 471 |
+
"id": 3,
|
| 472 |
+
"grasp_group": {}
|
| 473 |
+
}
|
| 474 |
+
],
|
| 475 |
+
"quality_check": {
|
| 476 |
+
"success": false,
|
| 477 |
+
"message": "Mask color names and panel identities mismatch; front/back assigned to wrong segmented colors."
|
| 478 |
+
}
|
| 479 |
+
}
|
dataset/food/snack/fd036c379c7b5305b78e4a6b1784151f/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:616b013ab983612cfd993b2eb2ccca66ec997658c19c18ff132da058f467f7d8
|
| 3 |
+
size 3774652
|
dataset/food/snack/fd036c379c7b5305b78e4a6b1784151f/potato_chips_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>
|