Add asset food/fruits/0a1f4b12334b5203ad4606465945ed2e
Browse files
.gitattributes
CHANGED
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@@ -8255,3 +8255,4 @@ dataset/food/beverages/f95b2b0c0af35fd794cdfe16dbee5503/affordance/mesh_part_seg
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| 8255 |
dataset/food/fruits/0150e12e33705691b84fbc533aa504d3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8256 |
dataset/food/fruits/0308c3ddcd2a5823ba0c74d624ae6e16/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8257 |
dataset/food/fruits/0665c3fb47055c86bce6da9fa943e121/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8255 |
dataset/food/fruits/0150e12e33705691b84fbc533aa504d3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8256 |
dataset/food/fruits/0308c3ddcd2a5823ba0c74d624ae6e16/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8257 |
dataset/food/fruits/0665c3fb47055c86bce6da9fa943e121/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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dataset/food/fruits/0a1f4b12334b5203ad4606465945ed2e/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,273 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "stem of pear",
|
| 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 grasp the stem to orient the pear",
|
| 10 |
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"confidence": 0.31
|
| 11 |
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},
|
| 12 |
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{
|
| 13 |
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"scenario": "hold the stem briefly while positioning or inspecting the fruit",
|
| 14 |
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"confidence": 0.24
|
| 15 |
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},
|
| 16 |
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{
|
| 17 |
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"scenario": "lift the pear by the stem",
|
| 18 |
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"confidence": 0.11
|
| 19 |
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}
|
| 20 |
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],
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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 |
+
],
|
| 26 |
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"semantic_description": "Small dark brown woody stem with a matte slightly rough fibrous texture, slender curved shape, and top-centered position protruding from the pear.",
|
| 27 |
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"id": 0,
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| 28 |
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"grasp_group": {
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| 29 |
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"grasp_2": {
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| 30 |
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"confidence": 0.9637824296951294,
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| 31 |
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],
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}
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"confidence": 0.9509690999984741,
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}
|
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},
|
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"grasp_16": {
|
| 190 |
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"confidence": 0.9458121061325073,
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"position": [
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],
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"orientation": {
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}
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},
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"grasp_17": {
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| 206 |
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|
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],
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"orientation": {
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]
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}
|
| 220 |
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}
|
| 221 |
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}
|
| 222 |
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},
|
| 223 |
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{
|
| 224 |
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"part_name": "body of pear",
|
| 225 |
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"mask_color": "Green",
|
| 226 |
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"graspable": true,
|
| 227 |
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"grasp_scenarios": [
|
| 228 |
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{
|
| 229 |
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"scenario": "grasp the pear body to pick up the fruit",
|
| 230 |
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"confidence": 0.94
|
| 231 |
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},
|
| 232 |
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{
|
| 233 |
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"scenario": "hold the body to stabilize the pear during placement",
|
| 234 |
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"confidence": 0.9
|
| 235 |
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},
|
| 236 |
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{
|
| 237 |
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"scenario": "grasp the body to rotate and inspect the fruit",
|
| 238 |
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"confidence": 0.88
|
| 239 |
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}
|
| 240 |
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],
|
| 241 |
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"functional_labels": [
|
| 242 |
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"main grasp surface",
|
| 243 |
+
"contain edible flesh",
|
| 244 |
+
"support handling and transport",
|
| 245 |
+
"provide the fruit's bulk shape"
|
| 246 |
+
],
|
| 247 |
+
"semantic_description": "Large bulbous yellow pear body with orange-red blush and fine speckling, smooth slightly glossy food skin, firm texture, and a rounded base tapering to a narrower top.",
|
| 248 |
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"id": 1,
|
| 249 |
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"grasp_group": {
|
| 250 |
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"grasp_32": {
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"confidence": 0.9513680934906006,
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"position": [
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],
|
| 257 |
+
"orientation": {
|
| 258 |
+
"w": 0.09284144416892316,
|
| 259 |
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"xyz": [
|
| 260 |
+
-0.14761351155435906,
|
| 261 |
+
-0.8129946485004071,
|
| 262 |
+
0.5555451547452462
|
| 263 |
+
]
|
| 264 |
+
}
|
| 265 |
+
}
|
| 266 |
+
}
|
| 267 |
+
}
|
| 268 |
+
],
|
| 269 |
+
"quality_check": {
|
| 270 |
+
"success": true,
|
| 271 |
+
"message": "YES"
|
| 272 |
+
}
|
| 273 |
+
}
|
dataset/food/fruits/0a1f4b12334b5203ad4606465945ed2e/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2b7234fb607b780fcead6ce423e15654f893e4a7ec682c7720e0f5469de53c1e
|
| 3 |
+
size 1323312
|