Add asset food/ingredients/f8ee460103145500805dee37553b1fdb
Browse files
.gitattributes
CHANGED
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@@ -6854,3 +6854,4 @@ dataset/food/ingredients/fedd55b945335b31b0041de7bf63f397/affordance/mesh_part_s
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| 6854 |
dataset/food/snack/10bfe27fbe1f564d91bad844554b33c3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6855 |
dataset/food/snack/127ace8d5e6e53ae85bc191476a102a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6856 |
dataset/food/snack/194da09669c0587892933c39a86fb4d4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6854 |
dataset/food/snack/10bfe27fbe1f564d91bad844554b33c3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6855 |
dataset/food/snack/127ace8d5e6e53ae85bc191476a102a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6856 |
dataset/food/snack/194da09669c0587892933c39a86fb4d4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6857 |
+
dataset/food/ingredients/f8ee460103145500805dee37553b1fdb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/ingredients/f8ee460103145500805dee37553b1fdb/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,400 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "tomato body",
|
| 5 |
+
"mask_color": "Magenta",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main tomato body to pick up and move the tomato",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize the tomato during placement or inspection",
|
| 14 |
+
"confidence": 0.94
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"main grasp surface",
|
| 19 |
+
"contain edible flesh",
|
| 20 |
+
"provide bulk structure",
|
| 21 |
+
"support handling"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large round red tomato body with smooth glossy skin and a firm but slightly yielding fleshy surface covering most of the fruit.",
|
| 24 |
+
"id": 7,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_1": {
|
| 27 |
+
"confidence": 0.8234460353851318,
|
| 28 |
+
"position": [
|
| 29 |
+
0.013633566108183004,
|
| 30 |
+
-0.10800120374187827,
|
| 31 |
+
0.02682121191173792
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.4115380084471413,
|
| 35 |
+
"xyz": [
|
| 36 |
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-0.4514484137736302,
|
| 37 |
+
0.5367189886084351,
|
| 38 |
+
0.5820339548271842
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_2": {
|
| 43 |
+
"confidence": 0.8497427701950073,
|
| 44 |
+
"position": [
|
| 45 |
+
0.10355331109894905,
|
| 46 |
+
-0.002306240698089823,
|
| 47 |
+
0.022202341817319393
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.13829818870621435,
|
| 51 |
+
"xyz": [
|
| 52 |
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-0.6732177272102491,
|
| 53 |
+
-0.1295295493821702,
|
| 54 |
+
0.7147542225179918
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_3": {
|
| 59 |
+
"confidence": 0.8100996017456055,
|
| 60 |
+
"position": [
|
| 61 |
+
-0.06498391075001564,
|
| 62 |
+
-0.07680647214874625,
|
| 63 |
+
0.052901918068528175
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.21280872583319096,
|
| 67 |
+
"xyz": [
|
| 68 |
+
-0.670074397958738,
|
| 69 |
+
-0.4220384892564363,
|
| 70 |
+
-0.5723602545561962
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_4": {
|
| 75 |
+
"confidence": 0.7124723196029663,
|
| 76 |
+
"position": [
|
| 77 |
+
-0.007105170618160628,
|
| 78 |
+
-0.10139352967962623,
|
| 79 |
+
0.007192874327301979
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.619852920040374,
|
| 83 |
+
"xyz": [
|
| 84 |
+
-0.5361491657790945,
|
| 85 |
+
-0.3340103252418124,
|
| 86 |
+
-0.4655787067550035
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_5": {
|
| 91 |
+
"confidence": 0.9219794869422913,
|
| 92 |
+
"position": [
|
| 93 |
+
0.10685072200431023,
|
| 94 |
+
-0.010498665738850832,
|
| 95 |
+
0.029374931997153908
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.7036259639716455,
|
| 99 |
+
"xyz": [
|
| 100 |
+
-0.08997409258823698,
|
| 101 |
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-0.7047299163721352,
|
| 102 |
+
-0.013073272659121157
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_6": {
|
| 107 |
+
"confidence": 0.9181346297264099,
|
| 108 |
+
"position": [
|
| 109 |
+
0.05706092076434288,
|
| 110 |
+
-0.0902057676576078,
|
| 111 |
+
0.029512579436413944
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
+
"w": 0.6344626636155813,
|
| 115 |
+
"xyz": [
|
| 116 |
+
-0.3777842011353035,
|
| 117 |
+
-0.5973008275926304,
|
| 118 |
+
-0.31299831821839025
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"grasp_7": {
|
| 123 |
+
"confidence": 0.7638331651687622,
|
| 124 |
+
"position": [
|
| 125 |
+
0.05531001197232399,
|
| 126 |
+
-0.08638195833191276,
|
| 127 |
+
0.02002044301480055
|
| 128 |
+
],
|
| 129 |
+
"orientation": {
|
| 130 |
+
"w": 0.6996649757928362,
|
| 131 |
+
"xyz": [
|
| 132 |
+
-0.4227815505098508,
|
| 133 |
+
-0.5233507462337188,
|
| 134 |
+
-0.24047594186094004
|
| 135 |
+
]
|
| 136 |
+
}
|
| 137 |
+
},
|
| 138 |
+
"grasp_8": {
|
| 139 |
+
"confidence": 0.6931018829345703,
|
| 140 |
+
"position": [
|
| 141 |
+
0.04830991583003197,
|
| 142 |
+
-0.08999853720888495,
|
| 143 |
+
0.015122925862669945
|
| 144 |
+
],
|
| 145 |
+
"orientation": {
|
| 146 |
+
"w": 0.6968613227239611,
|
| 147 |
+
"xyz": [
|
| 148 |
+
-0.4278098647979784,
|
| 149 |
+
-0.5074925539207757,
|
| 150 |
+
-0.27168791689715516
|
| 151 |
+
]
|
| 152 |
+
}
|
| 153 |
+
}
|
| 154 |
+
}
|
| 155 |
+
},
|
| 156 |
+
{
|
| 157 |
+
"part_name": "calyx leaves",
|
| 158 |
+
"mask_color": "Cyan",
|
| 159 |
+
"graspable": false,
|
| 160 |
+
"grasp_scenarios": [],
|
| 161 |
+
"functional_labels": [
|
| 162 |
+
"protect the stem end",
|
| 163 |
+
"cover the top around the stem",
|
| 164 |
+
"indicate top orientation"
|
| 165 |
+
],
|
| 166 |
+
"semantic_description": "Thin green sepals with a matte slightly textured plant surface radiating in a star-like pattern from the tomato top, small relative to the fruit.",
|
| 167 |
+
"id": 6,
|
| 168 |
+
"grasp_group": {}
|
| 169 |
+
},
|
| 170 |
+
{
|
| 171 |
+
"part_name": "stem",
|
| 172 |
+
"mask_color": "Green",
|
| 173 |
+
"graspable": true,
|
| 174 |
+
"grasp_scenarios": [
|
| 175 |
+
{
|
| 176 |
+
"scenario": "delicately grasp the short stem to orient the tomato",
|
| 177 |
+
"confidence": 0.31
|
| 178 |
+
},
|
| 179 |
+
{
|
| 180 |
+
"scenario": "briefly lift or reposition the tomato by the stem with careful handling",
|
| 181 |
+
"confidence": 0.14
|
| 182 |
+
}
|
| 183 |
+
],
|
| 184 |
+
"functional_labels": [
|
| 185 |
+
"connect to vine",
|
| 186 |
+
"indicate top orientation",
|
| 187 |
+
"provide a delicate manipulation point"
|
| 188 |
+
],
|
| 189 |
+
"semantic_description": "Short upright green stem with a matte fibrous plant texture and cylindrical shape protruding from the center of the tomato top.",
|
| 190 |
+
"id": 1,
|
| 191 |
+
"grasp_group": {}
|
| 192 |
+
},
|
| 193 |
+
{
|
| 194 |
+
"part_name": "stem scar",
|
| 195 |
+
"mask_color": "Yellow",
|
| 196 |
+
"graspable": false,
|
| 197 |
+
"grasp_scenarios": [],
|
| 198 |
+
"functional_labels": [
|
| 199 |
+
"mark stem attachment transition",
|
| 200 |
+
"indicate top center"
|
| 201 |
+
],
|
| 202 |
+
"semantic_description": "Small yellow patch at the top center around the stem base, visible as a tiny transition area among the green calyx parts.",
|
| 203 |
+
"id": 3,
|
| 204 |
+
"grasp_group": {}
|
| 205 |
+
},
|
| 206 |
+
{
|
| 207 |
+
"part_name": "bottom scar",
|
| 208 |
+
"mask_color": "Purple",
|
| 209 |
+
"graspable": false,
|
| 210 |
+
"grasp_scenarios": [],
|
| 211 |
+
"functional_labels": [
|
| 212 |
+
"mark blossom end",
|
| 213 |
+
"indicate bottom orientation"
|
| 214 |
+
],
|
| 215 |
+
"semantic_description": "Small pale circular blossom-end scar on the bottom of the tomato, slightly recessed with a dull smoother appearance than the surrounding red skin.",
|
| 216 |
+
"id": 5,
|
| 217 |
+
"grasp_group": {}
|
| 218 |
+
},
|
| 219 |
+
{
|
| 220 |
+
"part_name": "shoulder around calyx",
|
| 221 |
+
"mask_color": "Magenta",
|
| 222 |
+
"graspable": true,
|
| 223 |
+
"grasp_scenarios": [
|
| 224 |
+
{
|
| 225 |
+
"scenario": "lightly contact the shoulder region to stabilize the tomato near the top during reorientation",
|
| 226 |
+
"confidence": 0.58
|
| 227 |
+
}
|
| 228 |
+
],
|
| 229 |
+
"functional_labels": [
|
| 230 |
+
"transition to stem area",
|
| 231 |
+
"support top contour",
|
| 232 |
+
"provide auxiliary contact surface"
|
| 233 |
+
],
|
| 234 |
+
"semantic_description": "Shallow red shoulder region around the calyx on the tomato top, glossy like the main body with a gently depressed smooth surface.",
|
| 235 |
+
"id": 7,
|
| 236 |
+
"grasp_group": {
|
| 237 |
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"grasp_1": {
|
| 238 |
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"confidence": 0.8234460353851318,
|
| 239 |
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"position": [
|
| 240 |
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0.013633566108183004,
|
| 241 |
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-0.10800120374187827,
|
| 242 |
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0.02682121191173792
|
| 243 |
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],
|
| 244 |
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"orientation": {
|
| 245 |
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"w": 0.4115380084471413,
|
| 246 |
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"xyz": [
|
| 247 |
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|
| 248 |
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0.5367189886084351,
|
| 249 |
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0.5820339548271842
|
| 250 |
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]
|
| 251 |
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}
|
| 252 |
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},
|
| 253 |
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"grasp_2": {
|
| 254 |
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"confidence": 0.8497427701950073,
|
| 255 |
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"position": [
|
| 256 |
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0.10355331109894905,
|
| 257 |
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|
| 258 |
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0.022202341817319393
|
| 259 |
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],
|
| 260 |
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"orientation": {
|
| 261 |
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"w": 0.13829818870621435,
|
| 262 |
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"xyz": [
|
| 263 |
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|
| 264 |
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-0.1295295493821702,
|
| 265 |
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0.7147542225179918
|
| 266 |
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]
|
| 267 |
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}
|
| 268 |
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},
|
| 269 |
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"grasp_3": {
|
| 270 |
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"confidence": 0.8100996017456055,
|
| 271 |
+
"position": [
|
| 272 |
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-0.06498391075001564,
|
| 273 |
+
-0.07680647214874625,
|
| 274 |
+
0.052901918068528175
|
| 275 |
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],
|
| 276 |
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"orientation": {
|
| 277 |
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"w": 0.21280872583319096,
|
| 278 |
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"xyz": [
|
| 279 |
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-0.670074397958738,
|
| 280 |
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|
| 281 |
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-0.5723602545561962
|
| 282 |
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]
|
| 283 |
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}
|
| 284 |
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},
|
| 285 |
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"grasp_4": {
|
| 286 |
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"confidence": 0.7124723196029663,
|
| 287 |
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"position": [
|
| 288 |
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-0.007105170618160628,
|
| 289 |
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-0.10139352967962623,
|
| 290 |
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0.007192874327301979
|
| 291 |
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],
|
| 292 |
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"orientation": {
|
| 293 |
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"w": 0.619852920040374,
|
| 294 |
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"xyz": [
|
| 295 |
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|
| 296 |
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-0.3340103252418124,
|
| 297 |
+
-0.4655787067550035
|
| 298 |
+
]
|
| 299 |
+
}
|
| 300 |
+
},
|
| 301 |
+
"grasp_5": {
|
| 302 |
+
"confidence": 0.9219794869422913,
|
| 303 |
+
"position": [
|
| 304 |
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0.10685072200431023,
|
| 305 |
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-0.010498665738850832,
|
| 306 |
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0.029374931997153908
|
| 307 |
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],
|
| 308 |
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"orientation": {
|
| 309 |
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"w": 0.7036259639716455,
|
| 310 |
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"xyz": [
|
| 311 |
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-0.08997409258823698,
|
| 312 |
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|
| 313 |
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-0.013073272659121157
|
| 314 |
+
]
|
| 315 |
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}
|
| 316 |
+
},
|
| 317 |
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"grasp_6": {
|
| 318 |
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"confidence": 0.9181346297264099,
|
| 319 |
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"position": [
|
| 320 |
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0.05706092076434288,
|
| 321 |
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-0.0902057676576078,
|
| 322 |
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0.029512579436413944
|
| 323 |
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],
|
| 324 |
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"orientation": {
|
| 325 |
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"w": 0.6344626636155813,
|
| 326 |
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"xyz": [
|
| 327 |
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-0.3777842011353035,
|
| 328 |
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-0.5973008275926304,
|
| 329 |
+
-0.31299831821839025
|
| 330 |
+
]
|
| 331 |
+
}
|
| 332 |
+
},
|
| 333 |
+
"grasp_7": {
|
| 334 |
+
"confidence": 0.7638331651687622,
|
| 335 |
+
"position": [
|
| 336 |
+
0.05531001197232399,
|
| 337 |
+
-0.08638195833191276,
|
| 338 |
+
0.02002044301480055
|
| 339 |
+
],
|
| 340 |
+
"orientation": {
|
| 341 |
+
"w": 0.6996649757928362,
|
| 342 |
+
"xyz": [
|
| 343 |
+
-0.4227815505098508,
|
| 344 |
+
-0.5233507462337188,
|
| 345 |
+
-0.24047594186094004
|
| 346 |
+
]
|
| 347 |
+
}
|
| 348 |
+
},
|
| 349 |
+
"grasp_8": {
|
| 350 |
+
"confidence": 0.6931018829345703,
|
| 351 |
+
"position": [
|
| 352 |
+
0.04830991583003197,
|
| 353 |
+
-0.08999853720888495,
|
| 354 |
+
0.015122925862669945
|
| 355 |
+
],
|
| 356 |
+
"orientation": {
|
| 357 |
+
"w": 0.6968613227239611,
|
| 358 |
+
"xyz": [
|
| 359 |
+
-0.4278098647979784,
|
| 360 |
+
-0.5074925539207757,
|
| 361 |
+
-0.27168791689715516
|
| 362 |
+
]
|
| 363 |
+
}
|
| 364 |
+
}
|
| 365 |
+
}
|
| 366 |
+
},
|
| 367 |
+
{
|
| 368 |
+
"part_name": "calyx lobe",
|
| 369 |
+
"mask_color": "Blue",
|
| 370 |
+
"graspable": false,
|
| 371 |
+
"grasp_scenarios": [],
|
| 372 |
+
"functional_labels": [
|
| 373 |
+
"protect the stem end",
|
| 374 |
+
"cover part of the top",
|
| 375 |
+
"indicate orientation"
|
| 376 |
+
],
|
| 377 |
+
"semantic_description": "A narrow green calyx lobe with a matte slightly textured plant surface extending outward from the tomato top among the other sepals.",
|
| 378 |
+
"id": 2,
|
| 379 |
+
"grasp_group": {}
|
| 380 |
+
},
|
| 381 |
+
{
|
| 382 |
+
"part_name": "calyx lobe",
|
| 383 |
+
"mask_color": "Orange",
|
| 384 |
+
"graspable": false,
|
| 385 |
+
"grasp_scenarios": [],
|
| 386 |
+
"functional_labels": [
|
| 387 |
+
"protect the stem end",
|
| 388 |
+
"cover part of the top",
|
| 389 |
+
"indicate orientation"
|
| 390 |
+
],
|
| 391 |
+
"semantic_description": "A small curved green calyx lobe with a matte plant surface on the tomato top, thinner than the main fruit body.",
|
| 392 |
+
"id": 4,
|
| 393 |
+
"grasp_group": {}
|
| 394 |
+
}
|
| 395 |
+
],
|
| 396 |
+
"quality_check": {
|
| 397 |
+
"success": false,
|
| 398 |
+
"message": "Mask-part mapping is inconsistent; yellow is calyx lobe, not stem scar, and blue/orange lobe labels are incomplete or duplicated."
|
| 399 |
+
}
|
| 400 |
+
}
|
dataset/food/ingredients/f8ee460103145500805dee37553b1fdb/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:927037cae6fa4cf4d249710fe5b365d46508e2d5ec7014b954aee4de1d1576ee
|
| 3 |
+
size 111307652
|