Add asset food/fruits/5b3d4771cee2530b9cf7073c9cf006bc
Browse files
.gitattributes
CHANGED
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@@ -8285,3 +8285,4 @@ dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/affordance/mesh_part_seg.gl
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| 8285 |
dataset/food/fruits/526d54272dce59e0a45960a6a7916f5f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8286 |
dataset/food/fruits/530ebd13b4de54e6a7cfcd19cca0e8b9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8287 |
dataset/food/fruits/58caf9a4b7165cd6bd152a45ea9c9620/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8285 |
dataset/food/fruits/526d54272dce59e0a45960a6a7916f5f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8286 |
dataset/food/fruits/530ebd13b4de54e6a7cfcd19cca0e8b9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8287 |
dataset/food/fruits/58caf9a4b7165cd6bd152a45ea9c9620/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8288 |
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dataset/food/fruits/5b3d4771cee2530b9cf7073c9cf006bc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/fruits/5b3d4771cee2530b9cf7073c9cf006bc/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,336 @@
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| 1 |
+
{
|
| 2 |
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"affordances": [
|
| 3 |
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{
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| 4 |
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"part_name": "banana body",
|
| 5 |
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"mask_color": "Red",
|
| 6 |
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"graspable": true,
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| 7 |
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"grasp_scenarios": [
|
| 8 |
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{
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| 9 |
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|
| 10 |
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"confidence": 0.95
|
| 11 |
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},
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| 12 |
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{
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| 13 |
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"scenario": "hold the banana body to stabilize it during placement or transport",
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| 14 |
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"confidence": 0.92
|
| 15 |
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},
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| 16 |
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{
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| 17 |
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"scenario": "grasp the banana body to orient the fruit for inspection",
|
| 18 |
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"confidence": 0.88
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| 19 |
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}
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| 20 |
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],
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| 21 |
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"functional_labels": [
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| 22 |
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"main grasp surface",
|
| 23 |
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"contain edible fruit",
|
| 24 |
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"support peeling from the ends",
|
| 25 |
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"provide overall structure"
|
| 26 |
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],
|
| 27 |
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"semantic_description": "Large curved yellow banana peel body with a smooth slightly glossy skin, firm surface, elongated crescent shape, and subtle longitudinal ridges forming most of the fruit.",
|
| 28 |
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"id": 0,
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| 29 |
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| 226 |
+
0.0174062664154917,
|
| 227 |
+
-0.025848785415291786
|
| 228 |
+
],
|
| 229 |
+
"orientation": {
|
| 230 |
+
"w": 0.17682292481938272,
|
| 231 |
+
"xyz": [
|
| 232 |
+
-0.6362551974026333,
|
| 233 |
+
0.08707882129340783,
|
| 234 |
+
-0.7458754962583272
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
}
|
| 238 |
+
}
|
| 239 |
+
},
|
| 240 |
+
{
|
| 241 |
+
"part_name": "banana stem",
|
| 242 |
+
"mask_color": "Blue",
|
| 243 |
+
"graspable": true,
|
| 244 |
+
"grasp_scenarios": [
|
| 245 |
+
{
|
| 246 |
+
"scenario": "delicately grasp the stem to lift or reposition the banana",
|
| 247 |
+
"confidence": 0.46
|
| 248 |
+
},
|
| 249 |
+
{
|
| 250 |
+
"scenario": "grasp the stem to orient the banana before placing it down",
|
| 251 |
+
"confidence": 0.54
|
| 252 |
+
},
|
| 253 |
+
{
|
| 254 |
+
"scenario": "hold the stem to start a peeling manipulation",
|
| 255 |
+
"confidence": 0.58
|
| 256 |
+
}
|
| 257 |
+
],
|
| 258 |
+
"functional_labels": [
|
| 259 |
+
"connect fruit to bunch",
|
| 260 |
+
"indicate top orientation",
|
| 261 |
+
"provide a peeling start point",
|
| 262 |
+
"assist light repositioning"
|
| 263 |
+
],
|
| 264 |
+
"semantic_description": "Short narrow stalk at one end of the banana, typically green to yellow-green with a brown dried cut end, matte slightly fibrous surface, and tapered cylindrical form protruding from the fruit.",
|
| 265 |
+
"id": 2,
|
| 266 |
+
"grasp_group": {
|
| 267 |
+
"grasp_20": {
|
| 268 |
+
"confidence": 0.5827735662460327,
|
| 269 |
+
"position": [
|
| 270 |
+
0.017088095686631277,
|
| 271 |
+
0.10288866912014782,
|
| 272 |
+
0.10560647211968899
|
| 273 |
+
],
|
| 274 |
+
"orientation": {
|
| 275 |
+
"w": 0.22089172508423263,
|
| 276 |
+
"xyz": [
|
| 277 |
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0.7234245545675081,
|
| 278 |
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-0.6488736071366987,
|
| 279 |
+
0.082624461266163
|
| 280 |
+
]
|
| 281 |
+
}
|
| 282 |
+
},
|
| 283 |
+
"grasp_21": {
|
| 284 |
+
"confidence": 0.5418702363967896,
|
| 285 |
+
"position": [
|
| 286 |
+
0.016981990105705336,
|
| 287 |
+
0.09181415592320263,
|
| 288 |
+
0.11190097592771053
|
| 289 |
+
],
|
| 290 |
+
"orientation": {
|
| 291 |
+
"w": 0.16970058648972794,
|
| 292 |
+
"xyz": [
|
| 293 |
+
0.716717843274663,
|
| 294 |
+
-0.6736750474478116,
|
| 295 |
+
0.060656199377695834
|
| 296 |
+
]
|
| 297 |
+
}
|
| 298 |
+
},
|
| 299 |
+
"grasp_23": {
|
| 300 |
+
"confidence": 0.7791728377342224,
|
| 301 |
+
"position": [
|
| 302 |
+
0.02352013162453659,
|
| 303 |
+
0.12718841736204922,
|
| 304 |
+
0.09244915656745434
|
| 305 |
+
],
|
| 306 |
+
"orientation": {
|
| 307 |
+
"w": 0.2391611020076653,
|
| 308 |
+
"xyz": [
|
| 309 |
+
0.7532314112709982,
|
| 310 |
+
0.5316566345693439,
|
| 311 |
+
-0.30460733950379226
|
| 312 |
+
]
|
| 313 |
+
}
|
| 314 |
+
}
|
| 315 |
+
}
|
| 316 |
+
},
|
| 317 |
+
{
|
| 318 |
+
"part_name": "banana tip",
|
| 319 |
+
"mask_color": "Green",
|
| 320 |
+
"graspable": false,
|
| 321 |
+
"grasp_scenarios": [],
|
| 322 |
+
"functional_labels": [
|
| 323 |
+
"seal the blossom end",
|
| 324 |
+
"indicate end orientation",
|
| 325 |
+
"provide a secondary peeling end"
|
| 326 |
+
],
|
| 327 |
+
"semantic_description": "Small nub at the end opposite the stem, visible as a tiny rounded protrusion much smaller than the main body; its appearance varies by view and is not consistently dark brown.",
|
| 328 |
+
"id": 1,
|
| 329 |
+
"grasp_group": {}
|
| 330 |
+
}
|
| 331 |
+
],
|
| 332 |
+
"quality_check": {
|
| 333 |
+
"success": true,
|
| 334 |
+
"message": "YES"
|
| 335 |
+
}
|
| 336 |
+
}
|
dataset/food/fruits/5b3d4771cee2530b9cf7073c9cf006bc/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:71d9ab4a3e8b9318abd56a706fb9aebed8b4b18127c9ff27ba618e02bf8859fa
|
| 3 |
+
size 961348
|