Add asset food/fruits/526d54272dce59e0a45960a6a7916f5f
Browse files
.gitattributes
CHANGED
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@@ -8282,3 +8282,4 @@ dataset/food/fruits/49fff6b5d9c156eaba2f689eecd4d6ed/affordance/mesh_part_seg.gl
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| 8282 |
dataset/food/fruits/4d66623508465fb89ade9cdee4c6c4db/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8283 |
dataset/food/fruits/50b88ffa707b53adaad3229d94bb24fa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8284 |
dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8282 |
dataset/food/fruits/4d66623508465fb89ade9cdee4c6c4db/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8283 |
dataset/food/fruits/50b88ffa707b53adaad3229d94bb24fa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8284 |
dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/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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dataset/food/fruits/526d54272dce59e0a45960a6a7916f5f/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,416 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "leaf",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "delicately grasp the leaf to orient the pear",
|
| 10 |
+
"confidence": 0.22
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pinch the leaf to steady the fruit during inspection",
|
| 14 |
+
"confidence": 0.18
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"indicate top orientation",
|
| 19 |
+
"connect to stem area",
|
| 20 |
+
"provide a natural attachment feature"
|
| 21 |
+
],
|
| 22 |
+
"semantic_description": "A small green leaf with a matte smooth slightly veined surface, thin flat oval shape, and soft flexible texture attached near the top beside the stem.",
|
| 23 |
+
"id": 0,
|
| 24 |
+
"grasp_group": {}
|
| 25 |
+
},
|
| 26 |
+
{
|
| 27 |
+
"part_name": "stem of pear",
|
| 28 |
+
"mask_color": "Green",
|
| 29 |
+
"graspable": true,
|
| 30 |
+
"grasp_scenarios": [
|
| 31 |
+
{
|
| 32 |
+
"scenario": "delicately grasp the stem to orient the pear",
|
| 33 |
+
"confidence": 0.31
|
| 34 |
+
},
|
| 35 |
+
{
|
| 36 |
+
"scenario": "lightly lift or suspend the pear by the stem",
|
| 37 |
+
"confidence": 0.14
|
| 38 |
+
}
|
| 39 |
+
],
|
| 40 |
+
"functional_labels": [
|
| 41 |
+
"connect to branch",
|
| 42 |
+
"indicate top orientation",
|
| 43 |
+
"provide a small hanging point"
|
| 44 |
+
],
|
| 45 |
+
"semantic_description": "A short brown woody stem with a dull hard slightly rough texture, slender tapered form, and upright position protruding from the narrow top of the pear.",
|
| 46 |
+
"id": 1,
|
| 47 |
+
"grasp_group": {
|
| 48 |
+
"grasp_25": {
|
| 49 |
+
"confidence": 0.9140663146972656,
|
| 50 |
+
"position": [
|
| 51 |
+
0.0008841096714604646,
|
| 52 |
+
-0.05503063299693167,
|
| 53 |
+
0.13529167044907808
|
| 54 |
+
],
|
| 55 |
+
"orientation": {
|
| 56 |
+
"w": 0.26004360827026984,
|
| 57 |
+
"xyz": [
|
| 58 |
+
-0.9555596191664676,
|
| 59 |
+
0.13573626654887794,
|
| 60 |
+
0.029305323058894744
|
| 61 |
+
]
|
| 62 |
+
}
|
| 63 |
+
},
|
| 64 |
+
"grasp_27": {
|
| 65 |
+
"confidence": 0.8972841501235962,
|
| 66 |
+
"position": [
|
| 67 |
+
0.0005410730373114347,
|
| 68 |
+
-0.05156884738244116,
|
| 69 |
+
0.13789186347275972
|
| 70 |
+
],
|
| 71 |
+
"orientation": {
|
| 72 |
+
"w": 0.24805494150043184,
|
| 73 |
+
"xyz": [
|
| 74 |
+
-0.9655258314786656,
|
| 75 |
+
0.0773868766996948,
|
| 76 |
+
0.015488255528464457
|
| 77 |
+
]
|
| 78 |
+
}
|
| 79 |
+
},
|
| 80 |
+
"grasp_30": {
|
| 81 |
+
"confidence": 0.8362610936164856,
|
| 82 |
+
"position": [
|
| 83 |
+
0.01749088999349624,
|
| 84 |
+
-0.04592413851059973,
|
| 85 |
+
0.133192484267056
|
| 86 |
+
],
|
| 87 |
+
"orientation": {
|
| 88 |
+
"w": 0.23789015822813853,
|
| 89 |
+
"xyz": [
|
| 90 |
+
-0.8505315023850738,
|
| 91 |
+
-0.46732472804254455,
|
| 92 |
+
-0.040150151042582606
|
| 93 |
+
]
|
| 94 |
+
}
|
| 95 |
+
},
|
| 96 |
+
"grasp_33": {
|
| 97 |
+
"confidence": 0.7818202972412109,
|
| 98 |
+
"position": [
|
| 99 |
+
-0.0016299806302413344,
|
| 100 |
+
-0.04421821632422507,
|
| 101 |
+
0.1420197980478406
|
| 102 |
+
],
|
| 103 |
+
"orientation": {
|
| 104 |
+
"w": 0.1887920576855717,
|
| 105 |
+
"xyz": [
|
| 106 |
+
-0.9669207606311144,
|
| 107 |
+
-0.16827005229502812,
|
| 108 |
+
-0.0332714760121004
|
| 109 |
+
]
|
| 110 |
+
}
|
| 111 |
+
},
|
| 112 |
+
"grasp_39": {
|
| 113 |
+
"confidence": 0.9354137182235718,
|
| 114 |
+
"position": [
|
| 115 |
+
0.0015910887159407139,
|
| 116 |
+
-0.05050556012429297,
|
| 117 |
+
0.12678418029099703
|
| 118 |
+
],
|
| 119 |
+
"orientation": {
|
| 120 |
+
"w": 0.25739326332501017,
|
| 121 |
+
"xyz": [
|
| 122 |
+
-0.9472214714001134,
|
| 123 |
+
0.18701850241240664,
|
| 124 |
+
0.03929722469751545
|
| 125 |
+
]
|
| 126 |
+
}
|
| 127 |
+
}
|
| 128 |
+
}
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"part_name": "body of pear",
|
| 132 |
+
"mask_color": "Blue",
|
| 133 |
+
"graspable": true,
|
| 134 |
+
"grasp_scenarios": [
|
| 135 |
+
{
|
| 136 |
+
"scenario": "grasp the pear body to pick up the fruit",
|
| 137 |
+
"confidence": 0.94
|
| 138 |
+
},
|
| 139 |
+
{
|
| 140 |
+
"scenario": "hold the body to stabilize the pear for placement or inspection",
|
| 141 |
+
"confidence": 0.91
|
| 142 |
+
}
|
| 143 |
+
],
|
| 144 |
+
"functional_labels": [
|
| 145 |
+
"main grasp surface",
|
| 146 |
+
"contain edible flesh",
|
| 147 |
+
"support handling",
|
| 148 |
+
"provide the fruit's bulk"
|
| 149 |
+
],
|
| 150 |
+
"semantic_description": "The large bulbous yellow pear body has smooth slightly glossy food skin with fine speckling, firm texture, a narrow neck widening to a rounded base, and faint orange blush patches.",
|
| 151 |
+
"id": 2,
|
| 152 |
+
"grasp_group": {
|
| 153 |
+
"grasp_40": {
|
| 154 |
+
"confidence": 0.9284238815307617,
|
| 155 |
+
"position": [
|
| 156 |
+
0.045255698380060494,
|
| 157 |
+
-0.09204370179213583,
|
| 158 |
+
-0.07444677781313658
|
| 159 |
+
],
|
| 160 |
+
"orientation": {
|
| 161 |
+
"w": 0.8038373353360362,
|
| 162 |
+
"xyz": [
|
| 163 |
+
-0.5394015386663542,
|
| 164 |
+
-0.08750529010070707,
|
| 165 |
+
0.23501987705005298
|
| 166 |
+
]
|
| 167 |
+
}
|
| 168 |
+
},
|
| 169 |
+
"grasp_41": {
|
| 170 |
+
"confidence": 0.9247331023216248,
|
| 171 |
+
"position": [
|
| 172 |
+
0.109811753151007,
|
| 173 |
+
-0.0015207130927592516,
|
| 174 |
+
-0.012530611857073382
|
| 175 |
+
],
|
| 176 |
+
"orientation": {
|
| 177 |
+
"w": 0.46060359657818917,
|
| 178 |
+
"xyz": [
|
| 179 |
+
-0.5400771361831459,
|
| 180 |
+
-0.5061556521732713,
|
| 181 |
+
0.489864746194803
|
| 182 |
+
]
|
| 183 |
+
}
|
| 184 |
+
},
|
| 185 |
+
"grasp_42": {
|
| 186 |
+
"confidence": 0.9246591925621033,
|
| 187 |
+
"position": [
|
| 188 |
+
0.10816750687081367,
|
| 189 |
+
-0.010626583592966199,
|
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dataset/food/fruits/526d54272dce59e0a45960a6a7916f5f/affordance/mesh_part_seg.glb
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 1375676
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