Add asset food/fruits/1255317fa3f35f34a272d757ed4b62e8
Browse files
.gitattributes
CHANGED
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@@ -8258,3 +8258,4 @@ dataset/food/fruits/0665c3fb47055c86bce6da9fa943e121/affordance/mesh_part_seg.gl
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| 8258 |
dataset/food/fruits/0a1f4b12334b5203ad4606465945ed2e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8259 |
dataset/food/fruits/05c8e2d73c5b5e319c1951f4f860bcf7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8260 |
dataset/food/fruits/10b3fac88d1b5530ae0b8f2be72de3c1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8258 |
dataset/food/fruits/0a1f4b12334b5203ad4606465945ed2e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8259 |
dataset/food/fruits/05c8e2d73c5b5e319c1951f4f860bcf7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8260 |
dataset/food/fruits/10b3fac88d1b5530ae0b8f2be72de3c1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8261 |
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dataset/food/fruits/1255317fa3f35f34a272d757ed4b62e8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/fruits/1255317fa3f35f34a272d757ed4b62e8/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,320 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "stem",
|
| 5 |
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"mask_color": "Red",
|
| 6 |
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"graspable": true,
|
| 7 |
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"grasp_scenarios": [
|
| 8 |
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{
|
| 9 |
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"scenario": "delicately pinch the stem to orient the fruit",
|
| 10 |
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"confidence": 0.34
|
| 11 |
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},
|
| 12 |
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{
|
| 13 |
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"scenario": "briefly hold the stem to steady the fruit during placement",
|
| 14 |
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"confidence": 0.2
|
| 15 |
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},
|
| 16 |
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{
|
| 17 |
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"scenario": "lift the fruit by the stem",
|
| 18 |
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"confidence": 0.08
|
| 19 |
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}
|
| 20 |
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],
|
| 21 |
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"functional_labels": [
|
| 22 |
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"connect to branch",
|
| 23 |
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"indicate top orientation",
|
| 24 |
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"provide a small manipulation point"
|
| 25 |
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],
|
| 26 |
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"semantic_description": "Small slender brown woody stem with a hard slightly rough texture and matte finish, protruding from the shallow top dimple of the fruit.",
|
| 27 |
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| 28 |
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|
| 235 |
+
}
|
| 236 |
+
},
|
| 237 |
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"grasp_17": {
|
| 238 |
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"confidence": 0.6561254262924194,
|
| 239 |
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"position": [
|
| 240 |
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0.0549266473390162,
|
| 241 |
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0.004922462394461036,
|
| 242 |
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0.14652077644132078
|
| 243 |
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],
|
| 244 |
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"orientation": {
|
| 245 |
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"w": 0.18934552000984695,
|
| 246 |
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"xyz": [
|
| 247 |
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|
| 248 |
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-0.595639235946641,
|
| 249 |
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-0.12770849637083906
|
| 250 |
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]
|
| 251 |
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}
|
| 252 |
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},
|
| 253 |
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"grasp_18": {
|
| 254 |
+
"confidence": 0.6393988132476807,
|
| 255 |
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"position": [
|
| 256 |
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0.025413010735064745,
|
| 257 |
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-0.060124188428744674,
|
| 258 |
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0.1419665494468063
|
| 259 |
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],
|
| 260 |
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"orientation": {
|
| 261 |
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"w": 0.13165452454977308,
|
| 262 |
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"xyz": [
|
| 263 |
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|
| 264 |
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|
| 265 |
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|
| 266 |
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]
|
| 267 |
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}
|
| 268 |
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},
|
| 269 |
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"grasp_19": {
|
| 270 |
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"confidence": 0.6323550939559937,
|
| 271 |
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"position": [
|
| 272 |
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0.03141590440645814,
|
| 273 |
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-0.05563242710195482,
|
| 274 |
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0.14318352728150785
|
| 275 |
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],
|
| 276 |
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"orientation": {
|
| 277 |
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"w": 0.2346214292989524,
|
| 278 |
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"xyz": [
|
| 279 |
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|
| 280 |
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|
| 281 |
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|
| 282 |
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|
| 283 |
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}
|
| 284 |
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}
|
| 285 |
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}
|
| 286 |
+
},
|
| 287 |
+
{
|
| 288 |
+
"part_name": "fruit body",
|
| 289 |
+
"mask_color": "Green",
|
| 290 |
+
"graspable": true,
|
| 291 |
+
"grasp_scenarios": [
|
| 292 |
+
{
|
| 293 |
+
"scenario": "grasp the fruit body to pick it up",
|
| 294 |
+
"confidence": 0.97
|
| 295 |
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},
|
| 296 |
+
{
|
| 297 |
+
"scenario": "hold the fruit body to reposition or place it",
|
| 298 |
+
"confidence": 0.95
|
| 299 |
+
},
|
| 300 |
+
{
|
| 301 |
+
"scenario": "stabilize the fruit body during inspection",
|
| 302 |
+
"confidence": 0.92
|
| 303 |
+
}
|
| 304 |
+
],
|
| 305 |
+
"functional_labels": [
|
| 306 |
+
"main grasp surface",
|
| 307 |
+
"contain edible flesh",
|
| 308 |
+
"support handling and transport",
|
| 309 |
+
"provide overall structure"
|
| 310 |
+
],
|
| 311 |
+
"semantic_description": "Large round pale yellow to cream fruit body with smooth slightly glossy skin, firm texture, many small brown speckles, and an overall apple-like spherical shape with shallow dimples at the stem and blossom ends.",
|
| 312 |
+
"id": 1,
|
| 313 |
+
"grasp_group": {}
|
| 314 |
+
}
|
| 315 |
+
],
|
| 316 |
+
"quality_check": {
|
| 317 |
+
"success": true,
|
| 318 |
+
"message": "YES"
|
| 319 |
+
}
|
| 320 |
+
}
|
dataset/food/fruits/1255317fa3f35f34a272d757ed4b62e8/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a63e187bd9a65343bf41591737216ed91b5a1cce8330a4e2fb931776561d6fac
|
| 3 |
+
size 3777756
|