Add asset food/fruits/146db517277757179baeab05ca606de0
Browse files
.gitattributes
CHANGED
|
@@ -8260,3 +8260,4 @@ dataset/food/fruits/05c8e2d73c5b5e319c1951f4f860bcf7/affordance/mesh_part_seg.gl
|
|
| 8260 |
dataset/food/fruits/10b3fac88d1b5530ae0b8f2be72de3c1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8261 |
dataset/food/fruits/1255317fa3f35f34a272d757ed4b62e8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8262 |
dataset/food/fruits/13e8b777dc2856898fb0d611aa651fbe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 8260 |
dataset/food/fruits/10b3fac88d1b5530ae0b8f2be72de3c1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8261 |
dataset/food/fruits/1255317fa3f35f34a272d757ed4b62e8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8262 |
dataset/food/fruits/13e8b777dc2856898fb0d611aa651fbe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8263 |
+
dataset/food/fruits/146db517277757179baeab05ca606de0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/food/fruits/146db517277757179baeab05ca606de0/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,304 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "stem of pear",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "delicately grasp the stem to orient the pear",
|
| 10 |
+
"confidence": 0.29
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pull or detach the pear from a branch by the stem",
|
| 14 |
+
"confidence": 0.41
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "lift the pear by the stem for transfer",
|
| 18 |
+
"confidence": 0.14
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"connect to branch",
|
| 23 |
+
"indicate top orientation",
|
| 24 |
+
"provide a small pull point"
|
| 25 |
+
],
|
| 26 |
+
"semantic_description": "Small dark brown woody stem with a matte slightly rough fibrous texture, slender and curved, protruding from the top of the pear.",
|
| 27 |
+
"id": 0,
|
| 28 |
+
"grasp_group": {
|
| 29 |
+
"grasp_0": {
|
| 30 |
+
"confidence": 0.9527121782302856,
|
| 31 |
+
"position": [
|
| 32 |
+
0.028825539971876424,
|
| 33 |
+
-0.03415041841799393,
|
| 34 |
+
0.14120029099285603
|
| 35 |
+
],
|
| 36 |
+
"orientation": {
|
| 37 |
+
"w": 0.20713102514390805,
|
| 38 |
+
"xyz": [
|
| 39 |
+
-0.8314419599255476,
|
| 40 |
+
-0.5150282524557642,
|
| 41 |
+
0.023385997313765634
|
| 42 |
+
]
|
| 43 |
+
}
|
| 44 |
+
},
|
| 45 |
+
"grasp_1": {
|
| 46 |
+
"confidence": 0.9505411982536316,
|
| 47 |
+
"position": [
|
| 48 |
+
0.011821769054222386,
|
| 49 |
+
-0.05105994321638718,
|
| 50 |
+
0.13812300749123096
|
| 51 |
+
],
|
| 52 |
+
"orientation": {
|
| 53 |
+
"w": 0.23979868292281917,
|
| 54 |
+
"xyz": [
|
| 55 |
+
-0.9632603707499839,
|
| 56 |
+
0.10282511121156485,
|
| 57 |
+
0.0636635399221098
|
| 58 |
+
]
|
| 59 |
+
}
|
| 60 |
+
},
|
| 61 |
+
"grasp_2": {
|
| 62 |
+
"confidence": 0.9501076936721802,
|
| 63 |
+
"position": [
|
| 64 |
+
0.02154904219059972,
|
| 65 |
+
-0.017114755290094763,
|
| 66 |
+
0.1425791848450899
|
| 67 |
+
],
|
| 68 |
+
"orientation": {
|
| 69 |
+
"w": 0.05328569735141633,
|
| 70 |
+
"xyz": [
|
| 71 |
+
-0.979385246716068,
|
| 72 |
+
0.17319851895010352,
|
| 73 |
+
0.08926055123160861
|
| 74 |
+
]
|
| 75 |
+
}
|
| 76 |
+
},
|
| 77 |
+
"grasp_3": {
|
| 78 |
+
"confidence": 0.9500144720077515,
|
| 79 |
+
"position": [
|
| 80 |
+
0.024164942900824826,
|
| 81 |
+
-0.05419550143415108,
|
| 82 |
+
0.1324372161179781
|
| 83 |
+
],
|
| 84 |
+
"orientation": {
|
| 85 |
+
"w": 0.2500704078086902,
|
| 86 |
+
"xyz": [
|
| 87 |
+
-0.952914959825095,
|
| 88 |
+
0.11923865928414601,
|
| 89 |
+
0.12328833120799514
|
| 90 |
+
]
|
| 91 |
+
}
|
| 92 |
+
},
|
| 93 |
+
"grasp_4": {
|
| 94 |
+
"confidence": 0.9489743709564209,
|
| 95 |
+
"position": [
|
| 96 |
+
-0.006706273772579152,
|
| 97 |
+
-0.046542920696083456,
|
| 98 |
+
0.13601087220013142
|
| 99 |
+
],
|
| 100 |
+
"orientation": {
|
| 101 |
+
"w": 0.22748533868078263,
|
| 102 |
+
"xyz": [
|
| 103 |
+
-0.9642819235104623,
|
| 104 |
+
0.13501222901650273,
|
| 105 |
+
-0.013508911586351407
|
| 106 |
+
]
|
| 107 |
+
}
|
| 108 |
+
},
|
| 109 |
+
"grasp_5": {
|
| 110 |
+
"confidence": 0.9483616948127747,
|
| 111 |
+
"position": [
|
| 112 |
+
0.006430065135646146,
|
| 113 |
+
-0.0633437079959549,
|
| 114 |
+
0.13363111205399036
|
| 115 |
+
],
|
| 116 |
+
"orientation": {
|
| 117 |
+
"w": 0.29628512563970527,
|
| 118 |
+
"xyz": [
|
| 119 |
+
-0.9461674650791313,
|
| 120 |
+
0.12071885074568772,
|
| 121 |
+
0.049083718533082944
|
| 122 |
+
]
|
| 123 |
+
}
|
| 124 |
+
},
|
| 125 |
+
"grasp_6": {
|
| 126 |
+
"confidence": 0.9454147219657898,
|
| 127 |
+
"position": [
|
| 128 |
+
0.05190805147140054,
|
| 129 |
+
-0.03928408824140206,
|
| 130 |
+
0.12958750315010548
|
| 131 |
+
],
|
| 132 |
+
"orientation": {
|
| 133 |
+
"w": 0.15867221159782796,
|
| 134 |
+
"xyz": [
|
| 135 |
+
0.3439765137996263,
|
| 136 |
+
-0.8841029603238612,
|
| 137 |
+
-0.273615136217817
|
| 138 |
+
]
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"grasp_7": {
|
| 142 |
+
"confidence": 0.9444459676742554,
|
| 143 |
+
"position": [
|
| 144 |
+
0.024980667854833882,
|
| 145 |
+
-0.04821752809220925,
|
| 146 |
+
0.13376490958034992
|
| 147 |
+
],
|
| 148 |
+
"orientation": {
|
| 149 |
+
"w": 0.15744956064360963,
|
| 150 |
+
"xyz": [
|
| 151 |
+
-0.22506157960894305,
|
| 152 |
+
-0.9408237739337404,
|
| 153 |
+
-0.19851334372816268
|
| 154 |
+
]
|
| 155 |
+
}
|
| 156 |
+
},
|
| 157 |
+
"grasp_8": {
|
| 158 |
+
"confidence": 0.9438180923461914,
|
| 159 |
+
"position": [
|
| 160 |
+
0.016047049190092366,
|
| 161 |
+
-0.018542994337622076,
|
| 162 |
+
0.14231753535568714
|
| 163 |
+
],
|
| 164 |
+
"orientation": {
|
| 165 |
+
"w": 0.10605554015724145,
|
| 166 |
+
"xyz": [
|
| 167 |
+
-0.6976919920444505,
|
| 168 |
+
-0.7080326253567768,
|
| 169 |
+
-0.025843917454455845
|
| 170 |
+
]
|
| 171 |
+
}
|
| 172 |
+
},
|
| 173 |
+
"grasp_11": {
|
| 174 |
+
"confidence": 0.9400622844696045,
|
| 175 |
+
"position": [
|
| 176 |
+
0.00899633939116029,
|
| 177 |
+
-0.013806748727802187,
|
| 178 |
+
0.1427821833640337
|
| 179 |
+
],
|
| 180 |
+
"orientation": {
|
| 181 |
+
"w": 0.06225188246404634,
|
| 182 |
+
"xyz": [
|
| 183 |
+
-0.9547737616874047,
|
| 184 |
+
-0.29047118221787466,
|
| 185 |
+
0.012580120186866597
|
| 186 |
+
]
|
| 187 |
+
}
|
| 188 |
+
},
|
| 189 |
+
"grasp_12": {
|
| 190 |
+
"confidence": 0.9399145841598511,
|
| 191 |
+
"position": [
|
| 192 |
+
0.026840373750019353,
|
| 193 |
+
-0.05188493855530396,
|
| 194 |
+
0.13784480281174183
|
| 195 |
+
],
|
| 196 |
+
"orientation": {
|
| 197 |
+
"w": 0.10444081065192284,
|
| 198 |
+
"xyz": [
|
| 199 |
+
-0.03458756525088659,
|
| 200 |
+
-0.9638644097441094,
|
| 201 |
+
-0.24261330760909472
|
| 202 |
+
]
|
| 203 |
+
}
|
| 204 |
+
},
|
| 205 |
+
"grasp_13": {
|
| 206 |
+
"confidence": 0.9392730593681335,
|
| 207 |
+
"position": [
|
| 208 |
+
0.006649228620517533,
|
| 209 |
+
-0.06412789650494233,
|
| 210 |
+
0.13291806168854237
|
| 211 |
+
],
|
| 212 |
+
"orientation": {
|
| 213 |
+
"w": 0.30906504334406004,
|
| 214 |
+
"xyz": [
|
| 215 |
+
-0.9403835472432894,
|
| 216 |
+
0.12906717983036964,
|
| 217 |
+
0.05915442627139191
|
| 218 |
+
]
|
| 219 |
+
}
|
| 220 |
+
},
|
| 221 |
+
"grasp_14": {
|
| 222 |
+
"confidence": 0.9383192658424377,
|
| 223 |
+
"position": [
|
| 224 |
+
0.01382688793091802,
|
| 225 |
+
-0.013110193016473204,
|
| 226 |
+
0.14559012837707996
|
| 227 |
+
],
|
| 228 |
+
"orientation": {
|
| 229 |
+
"w": 0.08571081401028086,
|
| 230 |
+
"xyz": [
|
| 231 |
+
-0.7265971530427526,
|
| 232 |
+
-0.6815917801836046,
|
| 233 |
+
-0.011953189449125245
|
| 234 |
+
]
|
| 235 |
+
}
|
| 236 |
+
},
|
| 237 |
+
"grasp_16": {
|
| 238 |
+
"confidence": 0.9359095692634583,
|
| 239 |
+
"position": [
|
| 240 |
+
0.020597796763468068,
|
| 241 |
+
-0.023519082518760115,
|
| 242 |
+
0.1472634244710207
|
| 243 |
+
],
|
| 244 |
+
"orientation": {
|
| 245 |
+
"w": 0.12886478095167364,
|
| 246 |
+
"xyz": [
|
| 247 |
+
-0.7483883511993532,
|
| 248 |
+
-0.6506201830120182,
|
| 249 |
+
-0.0014565290243033426
|
| 250 |
+
]
|
| 251 |
+
}
|
| 252 |
+
},
|
| 253 |
+
"grasp_17": {
|
| 254 |
+
"confidence": 0.9332073926925659,
|
| 255 |
+
"position": [
|
| 256 |
+
0.02319476368575124,
|
| 257 |
+
-0.05201023496920243,
|
| 258 |
+
0.1305134017020464
|
| 259 |
+
],
|
| 260 |
+
"orientation": {
|
| 261 |
+
"w": 0.22276897466759932,
|
| 262 |
+
"xyz": [
|
| 263 |
+
-0.925072543105011,
|
| 264 |
+
0.26681436563240024,
|
| 265 |
+
0.1530518481134864
|
| 266 |
+
]
|
| 267 |
+
}
|
| 268 |
+
}
|
| 269 |
+
}
|
| 270 |
+
},
|
| 271 |
+
{
|
| 272 |
+
"part_name": "body of pear",
|
| 273 |
+
"mask_color": "Green",
|
| 274 |
+
"graspable": true,
|
| 275 |
+
"grasp_scenarios": [
|
| 276 |
+
{
|
| 277 |
+
"scenario": "grasp the pear body to pick it up",
|
| 278 |
+
"confidence": 0.95
|
| 279 |
+
},
|
| 280 |
+
{
|
| 281 |
+
"scenario": "hold the pear body to stabilize it for inspection",
|
| 282 |
+
"confidence": 0.91
|
| 283 |
+
},
|
| 284 |
+
{
|
| 285 |
+
"scenario": "grasp the body while placing or sorting the fruit",
|
| 286 |
+
"confidence": 0.93
|
| 287 |
+
}
|
| 288 |
+
],
|
| 289 |
+
"functional_labels": [
|
| 290 |
+
"main grasp surface",
|
| 291 |
+
"contain edible flesh",
|
| 292 |
+
"support handling and transport",
|
| 293 |
+
"provide bulk of the fruit"
|
| 294 |
+
],
|
| 295 |
+
"semantic_description": "Large yellow pear body with smooth slightly glossy food skin, fine speckled texture, rounded bulbous base with a narrower neck, and occasional red blush patches on the side.",
|
| 296 |
+
"id": 1,
|
| 297 |
+
"grasp_group": {}
|
| 298 |
+
}
|
| 299 |
+
],
|
| 300 |
+
"quality_check": {
|
| 301 |
+
"success": true,
|
| 302 |
+
"message": "YES"
|
| 303 |
+
}
|
| 304 |
+
}
|
dataset/food/fruits/146db517277757179baeab05ca606de0/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:02653a58cd5603e80f2bea016c1206e8f9b9675ea016e73dd668d4814e9691b0
|
| 3 |
+
size 1088772
|