Add asset food/fruits/482032ab81585b19af445c0dfd1f170f
Browse files
.gitattributes
CHANGED
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@@ -8277,3 +8277,4 @@ dataset/food/fruits/3d5b609b439456f08b71740e20df17df/affordance/mesh_part_seg.gl
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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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| 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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| 8280 |
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dataset/food/fruits/482032ab81585b19af445c0dfd1f170f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/fruits/482032ab81585b19af445c0dfd1f170f/affordance/affordance_annot.json
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "body of lemon",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
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"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
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"scenario": "grasp the lemon body to pick up and move the fruit",
|
| 10 |
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"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
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{
|
| 13 |
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"scenario": "hold the lemon body steady for cutting or squeezing",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
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{
|
| 17 |
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"scenario": "reorient the lemon by grasping its sides",
|
| 18 |
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"confidence": 0.87
|
| 19 |
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}
|
| 20 |
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],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"contain edible flesh and juice",
|
| 24 |
+
"provide surface for squeezing",
|
| 25 |
+
"support cutting and handling",
|
| 26 |
+
"protect the interior with peel"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Oval bright yellow lemon body with natural food skin, a mostly matte to faintly satin finish, slightly pebbled firm texture, tapered ends, and a medium-sized rounded form with minor dark blemishes near one tip in some views.",
|
| 29 |
+
"id": 0,
|
| 30 |
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"grasp_group": {
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| 31 |
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"grasp_0": {
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| 32 |
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"confidence": 0.9970340728759766,
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| 33 |
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"position": [
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| 34 |
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| 36 |
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| 37 |
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],
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| 38 |
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"orientation": {
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| 39 |
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"w": 0.11499012409569678,
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| 40 |
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"xyz": [
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| 43 |
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| 44 |
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]
|
| 45 |
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}
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| 46 |
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},
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| 47 |
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"grasp_1": {
|
| 48 |
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"confidence": 0.9966381788253784,
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| 49 |
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"position": [
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| 50 |
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},
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"grasp_2": {
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| 64 |
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"confidence": 0.9964390397071838,
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],
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}
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| 78 |
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},
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"grasp_3": {
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"confidence": 0.9963954091072083,
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"position": [
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"orientation": {
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"grasp_4": {
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"confidence": 0.996336817741394,
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"orientation": {
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"grasp_5": {
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"confidence": 0.9962882995605469,
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},
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"grasp_8": {
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| 160 |
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"confidence": 0.9959789514541626,
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"grasp_12": {
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dataset/food/fruits/482032ab81585b19af445c0dfd1f170f/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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oid sha256:092d3341461a9d1b990934f94a45de1747860d0d50457cbd7e4a7803aefc4237
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| 3 |
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size 36712668
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dataset/food/fruits/482032ab81585b19af445c0dfd1f170f/lemon_002.urdf
CHANGED
|
@@ -52,6 +52,7 @@
|
|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
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|
|
|
| 55 |
</affordance>
|
| 56 |
<quality>
|
| 57 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
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| 55 |
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
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| 56 |
</affordance>
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| 57 |
<quality>
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| 58 |
<PartSegChecker>YES</PartSegChecker>
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