Add asset food/fruits/23ee96132d1451199f45be451a5e216f
Browse files
.gitattributes
CHANGED
|
@@ -8264,3 +8264,4 @@ dataset/food/fruits/1648f03425ba518898286b21015a5850/affordance/mesh_part_seg.gl
|
|
| 8264 |
dataset/food/fruits/1d85d7846685503083bb4c515ebeee21/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8265 |
dataset/food/fruits/1faf89f277225543a73efe380188b397/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8266 |
dataset/food/fruits/23d6d401400e58b8bc6beb5e614333e8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 8264 |
dataset/food/fruits/1d85d7846685503083bb4c515ebeee21/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8265 |
dataset/food/fruits/1faf89f277225543a73efe380188b397/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8266 |
dataset/food/fruits/23d6d401400e58b8bc6beb5e614333e8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8267 |
+
dataset/food/fruits/23ee96132d1451199f45be451a5e216f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/food/fruits/23ee96132d1451199f45be451a5e216f/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,209 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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": 0.34
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pull or pluck the pear by the stem in careful handling",
|
| 14 |
+
"confidence": 0.27
|
| 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 pulling point"
|
| 25 |
+
],
|
| 26 |
+
"semantic_description": "Small thin brown woody stem with a hard slightly rough fibrous texture, matte finish, and curved tapered shape protruding from the pear top.",
|
| 27 |
+
"id": 0,
|
| 28 |
+
"grasp_group": {
|
| 29 |
+
"grasp_1": {
|
| 30 |
+
"confidence": 0.9653461575508118,
|
| 31 |
+
"position": [
|
| 32 |
+
0.014371108147315681,
|
| 33 |
+
-0.04455545305972919,
|
| 34 |
+
0.13372084312140942
|
| 35 |
+
],
|
| 36 |
+
"orientation": {
|
| 37 |
+
"w": 0.055524223362782406,
|
| 38 |
+
"xyz": [
|
| 39 |
+
0.059514546355273944,
|
| 40 |
+
-0.9724979917417522,
|
| 41 |
+
-0.2182263399554331
|
| 42 |
+
]
|
| 43 |
+
}
|
| 44 |
+
},
|
| 45 |
+
"grasp_2": {
|
| 46 |
+
"confidence": 0.9623024463653564,
|
| 47 |
+
"position": [
|
| 48 |
+
0.013274579192511737,
|
| 49 |
+
-0.041247793880756944,
|
| 50 |
+
0.13444790057837963
|
| 51 |
+
],
|
| 52 |
+
"orientation": {
|
| 53 |
+
"w": 0.196640349878339,
|
| 54 |
+
"xyz": [
|
| 55 |
+
-0.9785756518835804,
|
| 56 |
+
-0.026411712563572193,
|
| 57 |
+
0.05499716156138885
|
| 58 |
+
]
|
| 59 |
+
}
|
| 60 |
+
},
|
| 61 |
+
"grasp_5": {
|
| 62 |
+
"confidence": 0.9454768300056458,
|
| 63 |
+
"position": [
|
| 64 |
+
0.04074028308968991,
|
| 65 |
+
-0.05351975321536884,
|
| 66 |
+
0.12331497482955456
|
| 67 |
+
],
|
| 68 |
+
"orientation": {
|
| 69 |
+
"w": 0.10385557070939247,
|
| 70 |
+
"xyz": [
|
| 71 |
+
0.2944366854266271,
|
| 72 |
+
-0.8958695932859646,
|
| 73 |
+
-0.3161308756405306
|
| 74 |
+
]
|
| 75 |
+
}
|
| 76 |
+
},
|
| 77 |
+
"grasp_8": {
|
| 78 |
+
"confidence": 0.9308872818946838,
|
| 79 |
+
"position": [
|
| 80 |
+
0.04758252005558461,
|
| 81 |
+
-0.048559972492512316,
|
| 82 |
+
0.12694637291133404
|
| 83 |
+
],
|
| 84 |
+
"orientation": {
|
| 85 |
+
"w": 0.10261226301449401,
|
| 86 |
+
"xyz": [
|
| 87 |
+
0.40566709380910415,
|
| 88 |
+
-0.8538446506164405,
|
| 89 |
+
-0.30960336738027916
|
| 90 |
+
]
|
| 91 |
+
}
|
| 92 |
+
},
|
| 93 |
+
"grasp_9": {
|
| 94 |
+
"confidence": 0.9153826832771301,
|
| 95 |
+
"position": [
|
| 96 |
+
0.05657450284343213,
|
| 97 |
+
-0.030836039630230516,
|
| 98 |
+
0.12655040435492992
|
| 99 |
+
],
|
| 100 |
+
"orientation": {
|
| 101 |
+
"w": 0.22322112986720644,
|
| 102 |
+
"xyz": [
|
| 103 |
+
0.2856891679217394,
|
| 104 |
+
-0.9056297862376804,
|
| 105 |
+
-0.21997435485093494
|
| 106 |
+
]
|
| 107 |
+
}
|
| 108 |
+
},
|
| 109 |
+
"grasp_17": {
|
| 110 |
+
"confidence": 0.8636927604675293,
|
| 111 |
+
"position": [
|
| 112 |
+
0.032101565855555236,
|
| 113 |
+
-0.04416255041724071,
|
| 114 |
+
0.1366708856076002
|
| 115 |
+
],
|
| 116 |
+
"orientation": {
|
| 117 |
+
"w": 0.18234835182048542,
|
| 118 |
+
"xyz": [
|
| 119 |
+
-0.13713033642737674,
|
| 120 |
+
-0.9548999857856162,
|
| 121 |
+
-0.19002727847942782
|
| 122 |
+
]
|
| 123 |
+
}
|
| 124 |
+
}
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
{
|
| 128 |
+
"part_name": "pear body",
|
| 129 |
+
"mask_color": "Green",
|
| 130 |
+
"graspable": true,
|
| 131 |
+
"grasp_scenarios": [
|
| 132 |
+
{
|
| 133 |
+
"scenario": "grasp the pear body to pick up the fruit",
|
| 134 |
+
"confidence": 0.96
|
| 135 |
+
},
|
| 136 |
+
{
|
| 137 |
+
"scenario": "hold the pear body to stabilize it for inspection or placement",
|
| 138 |
+
"confidence": 0.92
|
| 139 |
+
},
|
| 140 |
+
{
|
| 141 |
+
"scenario": "grasp the wider lower body for reorientation",
|
| 142 |
+
"confidence": 0.89
|
| 143 |
+
}
|
| 144 |
+
],
|
| 145 |
+
"functional_labels": [
|
| 146 |
+
"main grasp surface",
|
| 147 |
+
"contain edible flesh",
|
| 148 |
+
"support handling",
|
| 149 |
+
"provide overall fruit shape"
|
| 150 |
+
],
|
| 151 |
+
"semantic_description": "Large bulbous yellow pear body with smooth slightly glossy food skin, firm fine-speckled texture, rounded tapering shape, and occasional faint orange blush patches across the main fruit surface.",
|
| 152 |
+
"id": 1,
|
| 153 |
+
"grasp_group": {
|
| 154 |
+
"grasp_28": {
|
| 155 |
+
"confidence": 0.9610452055931091,
|
| 156 |
+
"position": [
|
| 157 |
+
-0.0117576151387766,
|
| 158 |
+
0.06363724038237706,
|
| 159 |
+
0.09703386388719082
|
| 160 |
+
],
|
| 161 |
+
"orientation": {
|
| 162 |
+
"w": 0.32850245734081945,
|
| 163 |
+
"xyz": [
|
| 164 |
+
0.9270977625605487,
|
| 165 |
+
0.1804739974644572,
|
| 166 |
+
-0.0022383957351090806
|
| 167 |
+
]
|
| 168 |
+
}
|
| 169 |
+
},
|
| 170 |
+
"grasp_31": {
|
| 171 |
+
"confidence": 0.9599498510360718,
|
| 172 |
+
"position": [
|
| 173 |
+
-0.043671151739545166,
|
| 174 |
+
0.09481698140734807,
|
| 175 |
+
0.024745142087340355
|
| 176 |
+
],
|
| 177 |
+
"orientation": {
|
| 178 |
+
"w": 0.12638729454850603,
|
| 179 |
+
"xyz": [
|
| 180 |
+
-0.16299132302181138,
|
| 181 |
+
0.7479300789092505,
|
| 182 |
+
-0.6309205001100463
|
| 183 |
+
]
|
| 184 |
+
}
|
| 185 |
+
},
|
| 186 |
+
"grasp_34": {
|
| 187 |
+
"confidence": 0.957604169845581,
|
| 188 |
+
"position": [
|
| 189 |
+
-0.002639717306010425,
|
| 190 |
+
0.06854452058905736,
|
| 191 |
+
0.09077507071197033
|
| 192 |
+
],
|
| 193 |
+
"orientation": {
|
| 194 |
+
"w": 0.35932765966531405,
|
| 195 |
+
"xyz": [
|
| 196 |
+
0.9205311985562267,
|
| 197 |
+
0.1493692384844904,
|
| 198 |
+
-0.03456553310233106
|
| 199 |
+
]
|
| 200 |
+
}
|
| 201 |
+
}
|
| 202 |
+
}
|
| 203 |
+
}
|
| 204 |
+
],
|
| 205 |
+
"quality_check": {
|
| 206 |
+
"success": true,
|
| 207 |
+
"message": "YES"
|
| 208 |
+
}
|
| 209 |
+
}
|
dataset/food/fruits/23ee96132d1451199f45be451a5e216f/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5e29716475d32c1d08e316b1d403c7655bd3b54172985654be1ac4d0328340cc
|
| 3 |
+
size 1109140
|