Add asset food/fruits/23d6d401400e58b8bc6beb5e614333e8
Browse files
.gitattributes
CHANGED
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@@ -8263,4 +8263,4 @@ dataset/food/fruits/13e8b777dc2856898fb0d611aa651fbe/affordance/mesh_part_seg.gl
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dataset/food/fruits/1648f03425ba518898286b21015a5850/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8264 |
dataset/food/fruits/1d85d7846685503083bb4c515ebeee21/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8265 |
dataset/food/fruits/1faf89f277225543a73efe380188b397/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8266 |
-
dataset/food/fruits/
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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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| 8264 |
dataset/food/fruits/1d85d7846685503083bb4c515ebeee21/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8265 |
dataset/food/fruits/1faf89f277225543a73efe380188b397/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8266 |
+
dataset/food/fruits/23d6d401400e58b8bc6beb5e614333e8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/fruits/23d6d401400e58b8bc6beb5e614333e8/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,270 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "banana body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
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{
|
| 9 |
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"scenario": "grasp the banana body to pick up and move the banana",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
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{
|
| 13 |
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"scenario": "hold the banana body to stabilize it during inspection or placement",
|
| 14 |
+
"confidence": 0.93
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
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"scenario": "grasp the banana body while presenting it for peeling or cutting",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"contain edible fruit",
|
| 24 |
+
"support peeling from the ends",
|
| 25 |
+
"provide overall structure and volume"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large curved light green banana body with smooth slightly waxy food skin, a mostly matte finish, firm texture, elongated crescent shape, and a few small brown speckles and seam lines along the peel.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
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"grasp_0": {
|
| 31 |
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"confidence": 0.9581212401390076,
|
| 32 |
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"position": [
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| 33 |
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-0.005514680582564324,
|
| 34 |
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-0.1436964028980583,
|
| 35 |
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-0.04957151645794511
|
| 36 |
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],
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| 37 |
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"orientation": {
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| 38 |
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"w": 0.012318493552883758,
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| 39 |
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"xyz": [
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| 40 |
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| 41 |
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| 42 |
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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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},
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| 46 |
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"grasp_4": {
|
| 47 |
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"confidence": 0.9447890520095825,
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| 48 |
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"position": [
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| 49 |
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| 50 |
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| 51 |
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| 52 |
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],
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| 53 |
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"orientation": {
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| 54 |
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"w": 0.09032980431146115,
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| 55 |
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"xyz": [
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| 57 |
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| 58 |
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|
| 59 |
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]
|
| 60 |
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}
|
| 61 |
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},
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| 62 |
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"grasp_7": {
|
| 63 |
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"confidence": 0.9443817734718323,
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| 64 |
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"position": [
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| 65 |
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0.0014982655993662775,
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| 66 |
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| 67 |
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| 68 |
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],
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"orientation": {
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"w": 0.08270137151582066,
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| 71 |
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"xyz": [
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| 73 |
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| 74 |
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| 75 |
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]
|
| 76 |
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}
|
| 77 |
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},
|
| 78 |
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"grasp_12": {
|
| 79 |
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"confidence": 0.9423117637634277,
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| 80 |
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"position": [
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| 81 |
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| 83 |
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| 84 |
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],
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| 85 |
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"orientation": {
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"w": 0.9493887888626882,
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"xyz": [
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| 90 |
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| 91 |
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]
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}
|
| 93 |
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},
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| 94 |
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"grasp_13": {
|
| 95 |
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"confidence": 0.9422831535339355,
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| 96 |
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"position": [
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| 100 |
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],
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"orientation": {
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| 102 |
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"w": 0.8168961016787171,
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| 103 |
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"xyz": [
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| 104 |
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| 106 |
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| 107 |
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]
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| 108 |
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}
|
| 109 |
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},
|
| 110 |
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"grasp_19": {
|
| 111 |
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"confidence": 0.941506028175354,
|
| 112 |
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"position": [
|
| 113 |
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|
| 114 |
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|
| 115 |
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-0.03486782917752862
|
| 116 |
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],
|
| 117 |
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"orientation": {
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"w": 0.809555461310732,
|
| 119 |
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"xyz": [
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| 120 |
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| 121 |
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|
| 122 |
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|
| 123 |
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]
|
| 124 |
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}
|
| 125 |
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}
|
| 126 |
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}
|
| 127 |
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},
|
| 128 |
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{
|
| 129 |
+
"part_name": "stem of banana",
|
| 130 |
+
"mask_color": "Green",
|
| 131 |
+
"graspable": true,
|
| 132 |
+
"grasp_scenarios": [
|
| 133 |
+
{
|
| 134 |
+
"scenario": "grasp the stem to orient the banana before picking or placing",
|
| 135 |
+
"confidence": 0.52
|
| 136 |
+
},
|
| 137 |
+
{
|
| 138 |
+
"scenario": "hold the stem while the other gripper peels the banana body",
|
| 139 |
+
"confidence": 0.41
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"scenario": "lift the banana by the stem in a delicate handling setup",
|
| 143 |
+
"confidence": 0.26
|
| 144 |
+
}
|
| 145 |
+
],
|
| 146 |
+
"functional_labels": [
|
| 147 |
+
"connect to bunch",
|
| 148 |
+
"indicate top orientation",
|
| 149 |
+
"provide a peeling start point",
|
| 150 |
+
"offer a small secondary hold point"
|
| 151 |
+
],
|
| 152 |
+
"semantic_description": "Small pale green stalk at one end of the banana, with a firm fibrous plant texture, mostly matte surface, short tapered cylindrical shape, and a slightly darker cut top.",
|
| 153 |
+
"id": 1,
|
| 154 |
+
"grasp_group": {
|
| 155 |
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"grasp_20": {
|
| 156 |
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"confidence": 0.9247097373008728,
|
| 157 |
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"position": [
|
| 158 |
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0.024916536000091583,
|
| 159 |
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0.10844364226795733,
|
| 160 |
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0.13703024154528975
|
| 161 |
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],
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| 162 |
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"orientation": {
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| 163 |
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"w": 0.19528512706329554,
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| 164 |
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"xyz": [
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|
| 166 |
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|
| 167 |
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|
| 168 |
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]
|
| 169 |
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}
|
| 170 |
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},
|
| 171 |
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"grasp_31": {
|
| 172 |
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"confidence": 0.9412655830383301,
|
| 173 |
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"position": [
|
| 174 |
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-0.021733966830652207,
|
| 175 |
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0.14409470022656024,
|
| 176 |
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0.12025181716307998
|
| 177 |
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],
|
| 178 |
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"orientation": {
|
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"w": 0.45376425951854604,
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| 180 |
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"xyz": [
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0.8655948108051912,
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0.21131871130207525,
|
| 183 |
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0.013712131283693595
|
| 184 |
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]
|
| 185 |
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}
|
| 186 |
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},
|
| 187 |
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"grasp_34": {
|
| 188 |
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"confidence": 0.9335607290267944,
|
| 189 |
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"position": [
|
| 190 |
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0.0577159941312857,
|
| 191 |
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0.05380570353008807,
|
| 192 |
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0.14092150097712874
|
| 193 |
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],
|
| 194 |
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"orientation": {
|
| 195 |
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"w": 0.26529620855544284,
|
| 196 |
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"xyz": [
|
| 197 |
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0.36036421884027636,
|
| 198 |
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-0.8815961378546248,
|
| 199 |
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-0.15014593309695068
|
| 200 |
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]
|
| 201 |
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}
|
| 202 |
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},
|
| 203 |
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"grasp_35": {
|
| 204 |
+
"confidence": 0.929736316204071,
|
| 205 |
+
"position": [
|
| 206 |
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0.04517539293738082,
|
| 207 |
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0.04194393218494952,
|
| 208 |
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0.14339890843257308
|
| 209 |
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],
|
| 210 |
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"orientation": {
|
| 211 |
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"w": 0.17118700418211272,
|
| 212 |
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"xyz": [
|
| 213 |
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0.3784811310864434,
|
| 214 |
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-0.889543871128374,
|
| 215 |
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-0.19015452755226908
|
| 216 |
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]
|
| 217 |
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}
|
| 218 |
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},
|
| 219 |
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"grasp_36": {
|
| 220 |
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"confidence": 0.9270991086959839,
|
| 221 |
+
"position": [
|
| 222 |
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-0.02188529184786603,
|
| 223 |
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0.1414896792266518,
|
| 224 |
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0.10245349770411849
|
| 225 |
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],
|
| 226 |
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"orientation": {
|
| 227 |
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"w": 0.04243430588073372,
|
| 228 |
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"xyz": [
|
| 229 |
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0.3290891909800509,
|
| 230 |
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-0.8116411541739772,
|
| 231 |
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0.48076841713620366
|
| 232 |
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]
|
| 233 |
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}
|
| 234 |
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}
|
| 235 |
+
}
|
| 236 |
+
},
|
| 237 |
+
{
|
| 238 |
+
"part_name": "cut end of stem",
|
| 239 |
+
"mask_color": "Blue",
|
| 240 |
+
"graspable": false,
|
| 241 |
+
"grasp_scenarios": [],
|
| 242 |
+
"functional_labels": [
|
| 243 |
+
"seal the stem end",
|
| 244 |
+
"mark where the fruit was detached",
|
| 245 |
+
"indicate stem termination"
|
| 246 |
+
],
|
| 247 |
+
"semantic_description": "Tiny circular cut cap at the top of the stem, beige to light brown and slightly rough, with a dry fibrous plant appearance and flat cross-section.",
|
| 248 |
+
"id": 2,
|
| 249 |
+
"grasp_group": {}
|
| 250 |
+
},
|
| 251 |
+
{
|
| 252 |
+
"part_name": "blossom end of banana",
|
| 253 |
+
"mask_color": "Yellow",
|
| 254 |
+
"graspable": false,
|
| 255 |
+
"grasp_scenarios": [],
|
| 256 |
+
"functional_labels": [
|
| 257 |
+
"mark the distal tip",
|
| 258 |
+
"indicate fruit orientation",
|
| 259 |
+
"provide peel end termination"
|
| 260 |
+
],
|
| 261 |
+
"semantic_description": "Very small dark brown dried nub at the opposite tip of the banana, with a rough shriveled texture, matte finish, and compact rounded shape.",
|
| 262 |
+
"id": 3,
|
| 263 |
+
"grasp_group": {}
|
| 264 |
+
}
|
| 265 |
+
],
|
| 266 |
+
"quality_check": {
|
| 267 |
+
"success": true,
|
| 268 |
+
"message": "YES"
|
| 269 |
+
}
|
| 270 |
+
}
|
dataset/food/fruits/23d6d401400e58b8bc6beb5e614333e8/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:46c4e963444b542fbfe5999441bc83eedfce04777640a0ca728383d1f8f9a974
|
| 3 |
+
size 3779312
|