Add asset food/fruits/1648f03425ba518898286b21015a5850
Browse files
.gitattributes
CHANGED
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@@ -8260,4 +8260,4 @@ dataset/food/fruits/05c8e2d73c5b5e319c1951f4f860bcf7/affordance/mesh_part_seg.gl
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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 |
dataset/food/fruits/1255317fa3f35f34a272d757ed4b62e8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8262 |
dataset/food/fruits/13e8b777dc2856898fb0d611aa651fbe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8263 |
-
dataset/food/fruits/
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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 |
dataset/food/fruits/1255317fa3f35f34a272d757ed4b62e8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8262 |
dataset/food/fruits/13e8b777dc2856898fb0d611aa651fbe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8263 |
+
dataset/food/fruits/1648f03425ba518898286b21015a5850/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/fruits/1648f03425ba518898286b21015a5850/affordance/affordance_annot.json
ADDED
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "stem of pear",
|
| 5 |
+
"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 |
+
},
|
| 12 |
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{
|
| 13 |
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"scenario": "lightly hold the stem while stabilizing the pear during inspection",
|
| 14 |
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"confidence": 0.24
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
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"scenario": "lift the pear by the stem",
|
| 18 |
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"confidence": 0.1
|
| 19 |
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}
|
| 20 |
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],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"connect to branch",
|
| 23 |
+
"indicate top orientation",
|
| 24 |
+
"assist delicate handling"
|
| 25 |
+
],
|
| 26 |
+
"semantic_description": "Small curved brown woody stem with a hard slightly rough fibrous texture protruding from the narrow top of the pear.",
|
| 27 |
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"id": 0,
|
| 28 |
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"grasp_group": {
|
| 29 |
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"grasp_1": {
|
| 30 |
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"confidence": 0.7919560670852661,
|
| 31 |
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"position": [
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| 33 |
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| 34 |
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| 35 |
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],
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| 36 |
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"orientation": {
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"w": 0.24471924193126735,
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| 38 |
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"xyz": [
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| 40 |
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| 41 |
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| 42 |
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]
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| 43 |
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}
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| 44 |
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},
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| 45 |
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"grasp_3": {
|
| 46 |
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"confidence": 0.7680615186691284,
|
| 47 |
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"position": [
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| 50 |
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| 51 |
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"orientation": {
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| 54 |
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| 58 |
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]
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| 59 |
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}
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| 60 |
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},
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"grasp_4": {
|
| 62 |
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"confidence": 0.6817103624343872,
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| 63 |
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],
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],
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"orientation": {
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| 89 |
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| 90 |
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]
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| 91 |
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}
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| 92 |
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},
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| 93 |
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"grasp_19": {
|
| 94 |
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"confidence": 0.6517447233200073,
|
| 95 |
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"position": [
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| 97 |
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| 98 |
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|
| 99 |
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],
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"orientation": {
|
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|
| 102 |
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"xyz": [
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| 106 |
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]
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| 108 |
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}
|
| 109 |
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}
|
| 110 |
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},
|
| 111 |
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{
|
| 112 |
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"part_name": "body of pear",
|
| 113 |
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"mask_color": "Green",
|
| 114 |
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"graspable": true,
|
| 115 |
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"grasp_scenarios": [
|
| 116 |
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{
|
| 117 |
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"scenario": "grasp the pear body to pick it up",
|
| 118 |
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"confidence": 0.95
|
| 119 |
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},
|
| 120 |
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{
|
| 121 |
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"scenario": "hold the body to reposition or place the pear",
|
| 122 |
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"confidence": 0.93
|
| 123 |
+
},
|
| 124 |
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{
|
| 125 |
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"scenario": "stabilize the pear body during inspection",
|
| 126 |
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"confidence": 0.9
|
| 127 |
+
}
|
| 128 |
+
],
|
| 129 |
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"functional_labels": [
|
| 130 |
+
"main grasp surface",
|
| 131 |
+
"contain edible flesh",
|
| 132 |
+
"support handling",
|
| 133 |
+
"provide overall structure"
|
| 134 |
+
],
|
| 135 |
+
"semantic_description": "Large bulbous pale green pear body with smooth slightly glossy food skin, fine speckled texture, and a firm rounded form tapering toward the top.",
|
| 136 |
+
"id": 1,
|
| 137 |
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"grasp_group": {
|
| 138 |
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|
| 139 |
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"confidence": 0.9682433605194092,
|
| 140 |
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"position": [
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| 141 |
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| 143 |
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| 144 |
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],
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"orientation": {
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"w": 0.8902852988430051,
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]
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}
|
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},
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| 155 |
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"confidence": 0.9680123329162598,
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],
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"orientation": {
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]
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}
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},
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"grasp_29": {
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| 171 |
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| 172 |
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| 173 |
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],
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"orientation": {
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]
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}
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},
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"grasp_31": {
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"confidence": 0.9638466238975525,
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}
|
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},
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"grasp_32": {
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"confidence": 0.9632259011268616,
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"position": [
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"orientation": {
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}
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},
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"grasp_33": {
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"confidence": 0.9629279971122742,
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"position": [
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"grasp_35": {
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"w": 0.7226168842002995,
|
| 243 |
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"xyz": [
|
| 244 |
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|
| 245 |
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|
| 246 |
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|
| 247 |
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]
|
| 248 |
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}
|
| 249 |
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},
|
| 250 |
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"grasp_37": {
|
| 251 |
+
"confidence": 0.9618624448776245,
|
| 252 |
+
"position": [
|
| 253 |
+
0.01909048354718834,
|
| 254 |
+
0.10057612623495515,
|
| 255 |
+
-0.05330451438203454
|
| 256 |
+
],
|
| 257 |
+
"orientation": {
|
| 258 |
+
"w": 0.8309765776924576,
|
| 259 |
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"xyz": [
|
| 260 |
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0.5451805609165006,
|
| 261 |
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-0.031154826372533306,
|
| 262 |
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|
| 263 |
+
]
|
| 264 |
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}
|
| 265 |
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},
|
| 266 |
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"grasp_38": {
|
| 267 |
+
"confidence": 0.9615280032157898,
|
| 268 |
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"position": [
|
| 269 |
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0.02556040568742901,
|
| 270 |
+
-0.091379566831165,
|
| 271 |
+
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|
| 272 |
+
],
|
| 273 |
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"orientation": {
|
| 274 |
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"w": 0.09856319748130087,
|
| 275 |
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"xyz": [
|
| 276 |
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0.1005237137951426,
|
| 277 |
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|
| 278 |
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-0.5070579679692404
|
| 279 |
+
]
|
| 280 |
+
}
|
| 281 |
+
}
|
| 282 |
+
}
|
| 283 |
+
},
|
| 284 |
+
{
|
| 285 |
+
"part_name": "blossom end of pear",
|
| 286 |
+
"mask_color": "Blue",
|
| 287 |
+
"graspable": false,
|
| 288 |
+
"grasp_scenarios": [],
|
| 289 |
+
"functional_labels": [
|
| 290 |
+
"mark bottom orientation",
|
| 291 |
+
"natural fruit end feature",
|
| 292 |
+
"surface detail"
|
| 293 |
+
],
|
| 294 |
+
"semantic_description": "Small dark brown blossom-end scar at the bottom dimple, appearing dry and rough against the pale green smooth pear skin.",
|
| 295 |
+
"id": 2,
|
| 296 |
+
"grasp_group": {}
|
| 297 |
+
}
|
| 298 |
+
],
|
| 299 |
+
"quality_check": {
|
| 300 |
+
"success": true,
|
| 301 |
+
"message": "YES"
|
| 302 |
+
}
|
| 303 |
+
}
|
dataset/food/fruits/1648f03425ba518898286b21015a5850/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5afc997cc44a53754c978ebeb9cf69d9b7a7dbc4c0c5efa1f2eda0574db581cb
|
| 3 |
+
size 3777932
|