Add asset food/fruits/45caa4d5b6425a0c933029bc158895ff
Browse files
.gitattributes
CHANGED
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@@ -8276,3 +8276,4 @@ dataset/food/fruits/3b95af1cf722552e8c0263dd50b8b41b/affordance/mesh_part_seg.gl
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| 8276 |
dataset/food/fruits/3d5b609b439456f08b71740e20df17df/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8277 |
dataset/food/fruits/3e009e62717e5c66a215f3d343c436ec/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8278 |
dataset/food/fruits/3e40a3b8dac957dcbb1ac9c7954c660f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8276 |
dataset/food/fruits/3d5b609b439456f08b71740e20df17df/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8277 |
dataset/food/fruits/3e009e62717e5c66a215f3d343c436ec/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8278 |
dataset/food/fruits/3e40a3b8dac957dcbb1ac9c7954c660f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8279 |
+
dataset/food/fruits/45caa4d5b6425a0c933029bc158895ff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/fruits/45caa4d5b6425a0c933029bc158895ff/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,481 @@
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| 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": 0.26
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the stem briefly during sorting or inspection",
|
| 14 |
+
"confidence": 0.21
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "lift the pear by the stem",
|
| 18 |
+
"confidence": 0.1
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"connect to branch",
|
| 23 |
+
"indicate top orientation",
|
| 24 |
+
"provide a small handling point"
|
| 25 |
+
],
|
| 26 |
+
"semantic_description": "Small curved brown woody stem with a hard slightly rough fibrous texture and matte finish, protruding from the pear's top as a thin narrow part.",
|
| 27 |
+
"id": 0,
|
| 28 |
+
"grasp_group": {
|
| 29 |
+
"grasp_0": {
|
| 30 |
+
"confidence": 0.9079993367195129,
|
| 31 |
+
"position": [
|
| 32 |
+
0.004104327003005892,
|
| 33 |
+
0.08035348495468497,
|
| 34 |
+
0.11738007236272097
|
| 35 |
+
],
|
| 36 |
+
"orientation": {
|
| 37 |
+
"w": 0.394616302277633,
|
| 38 |
+
"xyz": [
|
| 39 |
+
0.9174978207936786,
|
| 40 |
+
0.04210001299232008,
|
| 41 |
+
-0.02652002491750647
|
| 42 |
+
]
|
| 43 |
+
}
|
| 44 |
+
},
|
| 45 |
+
"grasp_3": {
|
| 46 |
+
"confidence": 0.8857834339141846,
|
| 47 |
+
"position": [
|
| 48 |
+
0.004561498353723437,
|
| 49 |
+
0.025703997816890478,
|
| 50 |
+
0.14686328638345003
|
| 51 |
+
],
|
| 52 |
+
"orientation": {
|
| 53 |
+
"w": 0.08864751088735531,
|
| 54 |
+
"xyz": [
|
| 55 |
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0.5968042140082157,
|
| 56 |
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-0.7944156840123565,
|
| 57 |
+
0.0697858864720673
|
| 58 |
+
]
|
| 59 |
+
}
|
| 60 |
+
},
|
| 61 |
+
"grasp_4": {
|
| 62 |
+
"confidence": 0.875062108039856,
|
| 63 |
+
"position": [
|
| 64 |
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-0.01775771885877475,
|
| 65 |
+
0.06631840160116553,
|
| 66 |
+
0.13008633721619844
|
| 67 |
+
],
|
| 68 |
+
"orientation": {
|
| 69 |
+
"w": 0.037388621704644166,
|
| 70 |
+
"xyz": [
|
| 71 |
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-0.18131076262495144,
|
| 72 |
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0.934321503780786,
|
| 73 |
+
-0.3045846777108061
|
| 74 |
+
]
|
| 75 |
+
}
|
| 76 |
+
},
|
| 77 |
+
"grasp_5": {
|
| 78 |
+
"confidence": 0.872061014175415,
|
| 79 |
+
"position": [
|
| 80 |
+
-0.018359213543590158,
|
| 81 |
+
0.05181836104020476,
|
| 82 |
+
0.13792108464986086
|
| 83 |
+
],
|
| 84 |
+
"orientation": {
|
| 85 |
+
"w": 0.03110748694317133,
|
| 86 |
+
"xyz": [
|
| 87 |
+
-0.33451624495287985,
|
| 88 |
+
0.9095900419007587,
|
| 89 |
+
-0.2444936845680926
|
| 90 |
+
]
|
| 91 |
+
}
|
| 92 |
+
},
|
| 93 |
+
"grasp_6": {
|
| 94 |
+
"confidence": 0.8688133358955383,
|
| 95 |
+
"position": [
|
| 96 |
+
-0.039396440086420625,
|
| 97 |
+
0.05279884999617934,
|
| 98 |
+
0.1235254155471921
|
| 99 |
+
],
|
| 100 |
+
"orientation": {
|
| 101 |
+
"w": 0.3131575391692545,
|
| 102 |
+
"xyz": [
|
| 103 |
+
0.7771583940889388,
|
| 104 |
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0.5444853212915399,
|
| 105 |
+
0.03863833661801283
|
| 106 |
+
]
|
| 107 |
+
}
|
| 108 |
+
},
|
| 109 |
+
"grasp_7": {
|
| 110 |
+
"confidence": 0.8591140508651733,
|
| 111 |
+
"position": [
|
| 112 |
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-0.025340970081742853,
|
| 113 |
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0.062149354722350836,
|
| 114 |
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0.12167592812329531
|
| 115 |
+
],
|
| 116 |
+
"orientation": {
|
| 117 |
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"w": 0.3120294853559783,
|
| 118 |
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"xyz": [
|
| 119 |
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0.8361386255332357,
|
| 120 |
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0.4511112831117655,
|
| 121 |
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-0.002899898124249877
|
| 122 |
+
]
|
| 123 |
+
}
|
| 124 |
+
},
|
| 125 |
+
"grasp_8": {
|
| 126 |
+
"confidence": 0.8587105870246887,
|
| 127 |
+
"position": [
|
| 128 |
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-0.026737888751085848,
|
| 129 |
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0.06466993084177375,
|
| 130 |
+
0.1277411924675107
|
| 131 |
+
],
|
| 132 |
+
"orientation": {
|
| 133 |
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"w": 0.31850695997489636,
|
| 134 |
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"xyz": [
|
| 135 |
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0.8210889619139675,
|
| 136 |
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0.47361708692486615,
|
| 137 |
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-0.007286154225425071
|
| 138 |
+
]
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"grasp_9": {
|
| 142 |
+
"confidence": 0.8548151850700378,
|
| 143 |
+
"position": [
|
| 144 |
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-0.005399195884820074,
|
| 145 |
+
0.0291259060613811,
|
| 146 |
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0.14039101172238588
|
| 147 |
+
],
|
| 148 |
+
"orientation": {
|
| 149 |
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"w": 0.09283823272683432,
|
| 150 |
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"xyz": [
|
| 151 |
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0.6792423350718733,
|
| 152 |
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0.7250665673558895,
|
| 153 |
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-0.06549340190442605
|
| 154 |
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]
|
| 155 |
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}
|
| 156 |
+
},
|
| 157 |
+
"grasp_10": {
|
| 158 |
+
"confidence": 0.854570209980011,
|
| 159 |
+
"position": [
|
| 160 |
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-0.023237967339809984,
|
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|
dataset/food/fruits/45caa4d5b6425a0c933029bc158895ff/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 3 |
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size 1698584
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