Add asset food/fruits/3e009e62717e5c66a215f3d343c436ec
Browse files
.gitattributes
CHANGED
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@@ -8274,3 +8274,4 @@ dataset/food/fruits/3821fa823f6d5bfa885daa5129af0355/affordance/mesh_part_seg.gl
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| 8274 |
dataset/food/fruits/395c1c156e415a759d78b61232c84280/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8275 |
dataset/food/fruits/3b95af1cf722552e8c0263dd50b8b41b/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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| 8274 |
dataset/food/fruits/395c1c156e415a759d78b61232c84280/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8275 |
dataset/food/fruits/3b95af1cf722552e8c0263dd50b8b41b/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 |
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dataset/food/fruits/3e009e62717e5c66a215f3d343c436ec/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/fruits/3e009e62717e5c66a215f3d343c436ec/affordance/affordance_annot.json
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| 1 |
+
{
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| 2 |
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"affordances": [
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| 3 |
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{
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| 4 |
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"part_name": "stem of Asian pear",
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| 5 |
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"mask_color": "Red",
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| 6 |
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"graspable": true,
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| 7 |
+
"grasp_scenarios": [
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| 8 |
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{
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| 9 |
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"scenario": "delicately grasp the stem to orient the fruit",
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| 10 |
+
"confidence": 0.31
|
| 11 |
+
},
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| 12 |
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{
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| 13 |
+
"scenario": "lightly hold the stem while stabilizing the fruit during inspection",
|
| 14 |
+
"confidence": 0.24
|
| 15 |
+
},
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| 16 |
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{
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| 17 |
+
"scenario": "briefly pinch the stem for fine repositioning, not full support",
|
| 18 |
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"confidence": 0.18
|
| 19 |
+
}
|
| 20 |
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],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"connect to branch",
|
| 23 |
+
"indicate top orientation",
|
| 24 |
+
"provide a delicate manipulation point"
|
| 25 |
+
],
|
| 26 |
+
"semantic_description": "Small narrow brown stem with hard woody material, slightly rough texture, matte finish, and a slight curve protruding from the top dimple of the fruit.",
|
| 27 |
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"id": 0,
|
| 28 |
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"grasp_group": {}
|
| 29 |
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},
|
| 30 |
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{
|
| 31 |
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"part_name": "body of Asian pear",
|
| 32 |
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"mask_color": "Green",
|
| 33 |
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"graspable": true,
|
| 34 |
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"grasp_scenarios": [
|
| 35 |
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{
|
| 36 |
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"scenario": "grasp the fruit body to pick it up",
|
| 37 |
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"confidence": 0.95
|
| 38 |
+
},
|
| 39 |
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{
|
| 40 |
+
"scenario": "hold the fruit body to reposition it on a surface",
|
| 41 |
+
"confidence": 0.91
|
| 42 |
+
},
|
| 43 |
+
{
|
| 44 |
+
"scenario": "stabilize the fruit body during cutting or inspection",
|
| 45 |
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"confidence": 0.86
|
| 46 |
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}
|
| 47 |
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],
|
| 48 |
+
"functional_labels": [
|
| 49 |
+
"main grasp surface",
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| 50 |
+
"contain edible flesh",
|
| 51 |
+
"support handling",
|
| 52 |
+
"provide bulk structure",
|
| 53 |
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"support resting on a surface"
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| 54 |
+
],
|
| 55 |
+
"semantic_description": "Large round pale yellow to cream fruit body with smooth firm skin, a slightly matte finish, fine speckled pores, and an apple-like spherical shape forming nearly the entire fruit.",
|
| 56 |
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"id": 1,
|
| 57 |
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"grasp_group": {
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| 58 |
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"grasp_0": {
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| 59 |
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"confidence": 0.7676693797111511,
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"position": [
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],
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"orientation": {
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"w": 0.08885019864785684,
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"xyz": [
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]
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}
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},
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"grasp_2": {
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| 75 |
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"confidence": 0.7148875594139099,
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"position": [
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"orientation": {
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]
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}
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},
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"grasp_3": {
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"confidence": 0.7064684629440308,
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"position": [
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"grasp_6": {
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},
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"grasp_7": {
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"confidence": 0.6862368583679199,
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"grasp_10": {
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"confidence": 0.6626025438308716,
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"position": [
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"grasp_15": {
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"confidence": 0.6517690420150757,
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"grasp_16": {
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"confidence": 0.6516456604003906,
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}
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| 236 |
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],
|
| 237 |
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"quality_check": {
|
| 238 |
+
"success": true,
|
| 239 |
+
"message": "YES"
|
| 240 |
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}
|
| 241 |
+
}
|
dataset/food/fruits/3e009e62717e5c66a215f3d343c436ec/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
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| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ffe96060086252655c4b84246c930a89675fce0086b97e02af11c9c6b96a3740
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| 3 |
+
size 3511448
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