xinjjj commited on
Commit
405ba43
·
verified ·
1 Parent(s): cdeb799

Add asset food/fruits/0a1f4b12334b5203ad4606465945ed2e

Browse files
.gitattributes CHANGED
@@ -8255,3 +8255,4 @@ dataset/food/beverages/f95b2b0c0af35fd794cdfe16dbee5503/affordance/mesh_part_seg
8255
  dataset/food/fruits/0150e12e33705691b84fbc533aa504d3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8256
  dataset/food/fruits/0308c3ddcd2a5823ba0c74d624ae6e16/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8257
  dataset/food/fruits/0665c3fb47055c86bce6da9fa943e121/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8255
  dataset/food/fruits/0150e12e33705691b84fbc533aa504d3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8256
  dataset/food/fruits/0308c3ddcd2a5823ba0c74d624ae6e16/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8257
  dataset/food/fruits/0665c3fb47055c86bce6da9fa943e121/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8258
+ dataset/food/fruits/0a1f4b12334b5203ad4606465945ed2e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/food/fruits/0a1f4b12334b5203ad4606465945ed2e/affordance/affordance_annot.json ADDED
@@ -0,0 +1,273 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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": 0.31
11
+ },
12
+ {
13
+ "scenario": "hold the stem briefly while positioning or inspecting the fruit",
14
+ "confidence": 0.24
15
+ },
16
+ {
17
+ "scenario": "lift the pear by the stem",
18
+ "confidence": 0.11
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "connect to branch",
23
+ "indicate top orientation",
24
+ "provide a small manipulation point"
25
+ ],
26
+ "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
+ "id": 0,
28
+ "grasp_group": {
29
+ "grasp_2": {
30
+ "confidence": 0.9637824296951294,
31
+ "position": [
32
+ 0.0013500158966053277,
33
+ 0.0013925689199822955,
34
+ 0.14428715780377388
35
+ ],
36
+ "orientation": {
37
+ "w": 0.0004311359018144766,
38
+ "xyz": [
39
+ 0.719596657695842,
40
+ 0.694171959179222,
41
+ 0.017485864121864796
42
+ ]
43
+ }
44
+ },
45
+ "grasp_3": {
46
+ "confidence": 0.9598281383514404,
47
+ "position": [
48
+ 0.03139647448551841,
49
+ 0.0012345116047072224,
50
+ 0.14237045124173164
51
+ ],
52
+ "orientation": {
53
+ "w": 0.1034631283157607,
54
+ "xyz": [
55
+ -0.709092475901287,
56
+ -0.6900589267293314,
57
+ 0.10149837112221265
58
+ ]
59
+ }
60
+ },
61
+ "grasp_4": {
62
+ "confidence": 0.9577890038490295,
63
+ "position": [
64
+ 0.012963551824213937,
65
+ -0.011384983205061872,
66
+ 0.14307237043976784
67
+ ],
68
+ "orientation": {
69
+ "w": 0.08490266433515414,
70
+ "xyz": [
71
+ -0.631565447568704,
72
+ -0.7705687998348214,
73
+ -0.011846845455980234
74
+ ]
75
+ }
76
+ },
77
+ "grasp_5": {
78
+ "confidence": 0.9573527574539185,
79
+ "position": [
80
+ 7.061471114866436e-05,
81
+ 0.005315271548170131,
82
+ 0.1491379626095295
83
+ ],
84
+ "orientation": {
85
+ "w": 0.015235386745749008,
86
+ "xyz": [
87
+ 0.6962742978804833,
88
+ 0.7175878185405767,
89
+ 0.006140666407157424
90
+ ]
91
+ }
92
+ },
93
+ "grasp_6": {
94
+ "confidence": 0.9552284479141235,
95
+ "position": [
96
+ 0.058774580975295976,
97
+ -0.018798207522195298,
98
+ 0.12729771807789803
99
+ ],
100
+ "orientation": {
101
+ "w": 0.24033785675253938,
102
+ "xyz": [
103
+ -0.7973424823497032,
104
+ -0.5212517694976609,
105
+ 0.18649201925971792
106
+ ]
107
+ }
108
+ },
109
+ "grasp_7": {
110
+ "confidence": 0.9552016854286194,
111
+ "position": [
112
+ 0.05701752545428462,
113
+ -0.008947439149778802,
114
+ 0.1315985657274723
115
+ ],
116
+ "orientation": {
117
+ "w": 0.23178618658504327,
118
+ "xyz": [
119
+ -0.6605724495128573,
120
+ -0.6965300196620698,
121
+ 0.15736942003611495
122
+ ]
123
+ }
124
+ },
125
+ "grasp_10": {
126
+ "confidence": 0.9513795971870422,
127
+ "position": [
128
+ 0.012346885894658044,
129
+ -0.010119242251676042,
130
+ 0.1439581848680973
131
+ ],
132
+ "orientation": {
133
+ "w": 0.056799415402372766,
134
+ "xyz": [
135
+ -0.9010739122988135,
136
+ -0.4295501504796204,
137
+ 0.01806375396739171
138
+ ]
139
+ }
140
+ },
141
+ "grasp_11": {
142
+ "confidence": 0.9509690999984741,
143
+ "position": [
144
+ 0.0021253519516903907,
145
+ 0.0025071942873182707,
146
+ 0.14575191214680672
147
+ ],
148
+ "orientation": {
149
+ "w": 0.0027930262139186745,
150
+ "xyz": [
151
+ 0.8771964226404091,
152
+ 0.4794118249621033,
153
+ 0.026133067136152946
154
+ ]
155
+ }
156
+ },
157
+ "grasp_14": {
158
+ "confidence": 0.9458810091018677,
159
+ "position": [
160
+ 0.019932819326641038,
161
+ -0.02050455066637369,
162
+ 0.14671537652611732
163
+ ],
164
+ "orientation": {
165
+ "w": 0.07424926905062393,
166
+ "xyz": [
167
+ -0.9738205343460916,
168
+ 0.19510152902167957,
169
+ 0.08997781006861356
170
+ ]
171
+ }
172
+ },
173
+ "grasp_15": {
174
+ "confidence": 0.9458203911781311,
175
+ "position": [
176
+ 0.05340279059601016,
177
+ -0.005164416164916474,
178
+ 0.13359712436795235
179
+ ],
180
+ "orientation": {
181
+ "w": 0.17333829862152236,
182
+ "xyz": [
183
+ 0.6711907635133268,
184
+ -0.6952398929436644,
185
+ -0.18999548538077318
186
+ ]
187
+ }
188
+ },
189
+ "grasp_16": {
190
+ "confidence": 0.9458121061325073,
191
+ "position": [
192
+ 0.014688404073240235,
193
+ 0.0030701236028107814,
194
+ 0.14709481969475746
195
+ ],
196
+ "orientation": {
197
+ "w": 0.035380441578272755,
198
+ "xyz": [
199
+ 0.8218621757891533,
200
+ -0.567138967035507,
201
+ -0.04054849480243515
202
+ ]
203
+ }
204
+ },
205
+ "grasp_17": {
206
+ "confidence": 0.9435766935348511,
207
+ "position": [
208
+ 0.03623233156395145,
209
+ -0.031271261752408464,
210
+ 0.13727383688092232
211
+ ],
212
+ "orientation": {
213
+ "w": 0.21910181355867336,
214
+ "xyz": [
215
+ -0.8203448706416979,
216
+ -0.5247953743806605,
217
+ 0.06015399850233078
218
+ ]
219
+ }
220
+ }
221
+ }
222
+ },
223
+ {
224
+ "part_name": "body of pear",
225
+ "mask_color": "Green",
226
+ "graspable": true,
227
+ "grasp_scenarios": [
228
+ {
229
+ "scenario": "grasp the pear body to pick up the fruit",
230
+ "confidence": 0.94
231
+ },
232
+ {
233
+ "scenario": "hold the body to stabilize the pear during placement",
234
+ "confidence": 0.9
235
+ },
236
+ {
237
+ "scenario": "grasp the body to rotate and inspect the fruit",
238
+ "confidence": 0.88
239
+ }
240
+ ],
241
+ "functional_labels": [
242
+ "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
+ "id": 1,
249
+ "grasp_group": {
250
+ "grasp_32": {
251
+ "confidence": 0.9513680934906006,
252
+ "position": [
253
+ 0.033180361409904435,
254
+ 0.10020884719415335,
255
+ 0.012490632012486458
256
+ ],
257
+ "orientation": {
258
+ "w": 0.09284144416892316,
259
+ "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