Add asset food/fruits/73086733d13359b19d58c3d06cded653
Browse files
.gitattributes
CHANGED
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@@ -8289,3 +8289,4 @@ dataset/food/fruits/5e82b7ef85625ba6ad9abd7cd8272161/affordance/mesh_part_seg.gl
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| 8289 |
dataset/food/fruits/6072327ff43954b6b7fb76075d1442ff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8290 |
dataset/food/fruits/64ed05bd96c553e8b231e767accce641/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8291 |
dataset/food/fruits/72db2fa9b5ca51dfb2f31ce96ec113de/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8289 |
dataset/food/fruits/6072327ff43954b6b7fb76075d1442ff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8290 |
dataset/food/fruits/64ed05bd96c553e8b231e767accce641/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8291 |
dataset/food/fruits/72db2fa9b5ca51dfb2f31ce96ec113de/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8292 |
+
dataset/food/fruits/73086733d13359b19d58c3d06cded653/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/fruits/73086733d13359b19d58c3d06cded653/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,357 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "body of pear",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the pear body to pick up and move the fruit",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the pear body to stabilize it for inspection or placement",
|
| 14 |
+
"confidence": 0.92
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"main grasp surface",
|
| 19 |
+
"contain edible flesh",
|
| 20 |
+
"support handling",
|
| 21 |
+
"provide overall fruit structure"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large bulbous pear body with pale green to cream-yellow food skin, a matte smooth-fine pebbled texture, rounded shape, and a broad lower portion with faint red blush patches on some sides.",
|
| 24 |
+
"id": 1,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_22": {
|
| 27 |
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"confidence": 0.9408614635467529,
|
| 28 |
+
"position": [
|
| 29 |
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-0.02224592444690643,
|
| 30 |
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0.09171279572183266,
|
| 31 |
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0.07760713901370764
|
| 32 |
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],
|
| 33 |
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"orientation": {
|
| 34 |
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"w": 0.04784826706979798,
|
| 35 |
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"xyz": [
|
| 36 |
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-0.12208439919605207,
|
| 37 |
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0.8010408077861885,
|
| 38 |
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|
| 39 |
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]
|
| 40 |
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}
|
| 41 |
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}
|
| 42 |
+
}
|
| 43 |
+
},
|
| 44 |
+
{
|
| 45 |
+
"part_name": "stem of pear",
|
| 46 |
+
"mask_color": "Red",
|
| 47 |
+
"graspable": true,
|
| 48 |
+
"grasp_scenarios": [
|
| 49 |
+
{
|
| 50 |
+
"scenario": "delicately grasp the stem to orient the pear",
|
| 51 |
+
"confidence": 0.31
|
| 52 |
+
},
|
| 53 |
+
{
|
| 54 |
+
"scenario": "lightly hold the stem while stabilizing the fruit during inspection",
|
| 55 |
+
"confidence": 0.22
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"functional_labels": [
|
| 59 |
+
"connect to branch",
|
| 60 |
+
"indicate top orientation",
|
| 61 |
+
"provide a delicate manipulation point"
|
| 62 |
+
],
|
| 63 |
+
"semantic_description": "Small slender brown stem with a hard woody rough texture and slightly curved cylindrical shape protruding from the narrow top of the pear.",
|
| 64 |
+
"id": 0,
|
| 65 |
+
"grasp_group": {
|
| 66 |
+
"grasp_0": {
|
| 67 |
+
"confidence": 0.96531081199646,
|
| 68 |
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"position": [
|
| 69 |
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0.011575821328733582,
|
| 70 |
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-0.01569964870577678,
|
| 71 |
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0.16388927306979895
|
| 72 |
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],
|
| 73 |
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"orientation": {
|
| 74 |
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"w": 0.06132847956947346,
|
| 75 |
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"xyz": [
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| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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]
|
| 80 |
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}
|
| 81 |
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},
|
| 82 |
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"grasp_2": {
|
| 83 |
+
"confidence": 0.9600387215614319,
|
| 84 |
+
"position": [
|
| 85 |
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|
| 86 |
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-0.012118537386413664,
|
| 87 |
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0.16551315691322088
|
| 88 |
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],
|
| 89 |
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"orientation": {
|
| 90 |
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"w": 0.04739756644830332,
|
| 91 |
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"xyz": [
|
| 92 |
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| 93 |
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|
| 94 |
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|
| 95 |
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]
|
| 96 |
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}
|
| 97 |
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},
|
| 98 |
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"grasp_3": {
|
| 99 |
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"confidence": 0.9591866135597229,
|
| 100 |
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"position": [
|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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],
|
| 105 |
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"orientation": {
|
| 106 |
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"w": 0.23985632462999273,
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| 107 |
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"xyz": [
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| 109 |
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| 110 |
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|
| 111 |
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]
|
| 112 |
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}
|
| 113 |
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},
|
| 114 |
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"grasp_4": {
|
| 115 |
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"confidence": 0.9579222202301025,
|
| 116 |
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"position": [
|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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],
|
| 121 |
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"orientation": {
|
| 122 |
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"w": 0.16016224662632939,
|
| 123 |
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"xyz": [
|
| 124 |
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| 125 |
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|
| 126 |
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|
| 127 |
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]
|
| 128 |
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}
|
| 129 |
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},
|
| 130 |
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"grasp_6": {
|
| 131 |
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"confidence": 0.9541589617729187,
|
| 132 |
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"position": [
|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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],
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| 137 |
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"orientation": {
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| 138 |
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"w": 0.14346040146218667,
|
| 139 |
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"xyz": [
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|
| 141 |
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|
| 142 |
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| 143 |
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]
|
| 144 |
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}
|
| 145 |
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},
|
| 146 |
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"grasp_7": {
|
| 147 |
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"confidence": 0.9509986639022827,
|
| 148 |
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"position": [
|
| 149 |
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0.027907105635677,
|
| 150 |
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-0.01819135941332206,
|
| 151 |
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0.16090942826122046
|
| 152 |
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],
|
| 153 |
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"orientation": {
|
| 154 |
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"w": 0.09260215914572122,
|
| 155 |
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"xyz": [
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| 156 |
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|
| 158 |
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|
| 159 |
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]
|
| 160 |
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}
|
| 161 |
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},
|
| 162 |
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"grasp_8": {
|
| 163 |
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"confidence": 0.9476609826087952,
|
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"position": [
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| 165 |
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| 168 |
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],
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"orientation": {
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"w": 0.2511862699857398,
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"xyz": [
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| 174 |
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| 175 |
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]
|
| 176 |
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}
|
| 177 |
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},
|
| 178 |
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"grasp_10": {
|
| 179 |
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"confidence": 0.9452236890792847,
|
| 180 |
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"position": [
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| 181 |
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],
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"orientation": {
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"w": 0.1381743296349005,
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"xyz": [
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| 191 |
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]
|
| 192 |
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}
|
| 193 |
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},
|
| 194 |
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"grasp_12": {
|
| 195 |
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"confidence": 0.9359055757522583,
|
| 196 |
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"position": [
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|
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],
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| 201 |
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"orientation": {
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"w": 0.09154235949598481,
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| 203 |
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"xyz": [
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|
| 207 |
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]
|
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}
|
| 209 |
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},
|
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"grasp_13": {
|
| 211 |
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"confidence": 0.9308512210845947,
|
| 212 |
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"position": [
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],
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|
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|
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],
|
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|
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|
| 299 |
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|
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|
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|
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|
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|
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|
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},
|
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|
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|
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|
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0.01330203330871882,
|
| 310 |
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|
| 311 |
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0.1555392136797309
|
| 312 |
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],
|
| 313 |
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"orientation": {
|
| 314 |
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"w": 0.08575047597543017,
|
| 315 |
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"xyz": [
|
| 316 |
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|
| 317 |
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|
| 318 |
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|
| 319 |
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]
|
| 320 |
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|
| 321 |
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}
|
| 322 |
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}
|
| 323 |
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},
|
| 324 |
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{
|
| 325 |
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"part_name": "calyx of pear",
|
| 326 |
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"mask_color": "Blue",
|
| 327 |
+
"graspable": false,
|
| 328 |
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"grasp_scenarios": [],
|
| 329 |
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"functional_labels": [
|
| 330 |
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"flower-end remnant",
|
| 331 |
+
"indicate bottom orientation",
|
| 332 |
+
"surface feature"
|
| 333 |
+
],
|
| 334 |
+
"semantic_description": "Tiny dark brown dried calyx remnant with a rough fibrous texture, recessed at the bottom blossom end of the pear as a small star-like nub.",
|
| 335 |
+
"id": 2,
|
| 336 |
+
"grasp_group": {}
|
| 337 |
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},
|
| 338 |
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{
|
| 339 |
+
"part_name": "calyx lobe of pear",
|
| 340 |
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"mask_color": "Yellow",
|
| 341 |
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"graspable": false,
|
| 342 |
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"grasp_scenarios": [],
|
| 343 |
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"functional_labels": [
|
| 344 |
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"flower-end remnant",
|
| 345 |
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"indicate bottom orientation",
|
| 346 |
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"minor surface detail"
|
| 347 |
+
],
|
| 348 |
+
"semantic_description": "Very small dark brown to yellowish dried calyx lobe with a rough texture, adjacent to the bottom blossom-end cavity as a minor protruding floral remnant.",
|
| 349 |
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"id": 3,
|
| 350 |
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"grasp_group": {}
|
| 351 |
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}
|
| 352 |
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],
|
| 353 |
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"quality_check": {
|
| 354 |
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"success": true,
|
| 355 |
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"message": "YES"
|
| 356 |
+
}
|
| 357 |
+
}
|
dataset/food/fruits/73086733d13359b19d58c3d06cded653/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:e567102165469964d09f526ad237055b4bedbb0e07eccec0eb35b873a8ea4665
|
| 3 |
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size 3778708
|