Add asset food/fruits/8a6b23d9180d581dbdd15e5079de7bd2
Browse files
.gitattributes
CHANGED
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@@ -8295,4 +8295,4 @@ dataset/food/fruits/7f11fee9d9095642aedff060bd90c223/affordance/mesh_part_seg.gl
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| 8295 |
dataset/food/fruits/82045b47d2f850cabbf0a92871f5f1b0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8296 |
dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8297 |
dataset/food/fruits/8435cb123963588491254338bfb82daa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8298 |
-
dataset/food/fruits/
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| 8295 |
dataset/food/fruits/82045b47d2f850cabbf0a92871f5f1b0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8296 |
dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8297 |
dataset/food/fruits/8435cb123963588491254338bfb82daa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8298 |
+
dataset/food/fruits/8a6b23d9180d581dbdd15e5079de7bd2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/fruits/8a6b23d9180d581dbdd15e5079de7bd2/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,369 @@
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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": 0.3
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "lightly hold the stem while stabilizing the pear during inspection",
|
| 14 |
+
"confidence": 0.24
|
| 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 delicate manipulation point"
|
| 25 |
+
],
|
| 26 |
+
"semantic_description": "Small thin brown woody stem with a matte slightly rough fibrous texture, gently curved and protruding from the top of the pear.",
|
| 27 |
+
"id": 0,
|
| 28 |
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"grasp_group": {
|
| 29 |
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"grasp_0": {
|
| 30 |
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"confidence": 0.9128124713897705,
|
| 31 |
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"position": [
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| 32 |
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| 33 |
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| 34 |
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|
| 35 |
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],
|
| 36 |
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"orientation": {
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| 37 |
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"w": 0.02695873405972598,
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| 38 |
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"xyz": [
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| 40 |
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| 41 |
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| 42 |
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]
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| 43 |
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}
|
| 44 |
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},
|
| 45 |
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"grasp_1": {
|
| 46 |
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"confidence": 0.8669763207435608,
|
| 47 |
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"position": [
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| 48 |
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| 49 |
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| 50 |
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| 51 |
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],
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| 52 |
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"orientation": {
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| 54 |
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| 57 |
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| 58 |
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]
|
| 59 |
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}
|
| 60 |
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},
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| 61 |
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"grasp_2": {
|
| 62 |
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"confidence": 0.8649900555610657,
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| 63 |
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"position": [
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| 66 |
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| 67 |
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],
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| 68 |
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"orientation": {
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"w": 0.09187925554268198,
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| 70 |
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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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"grasp_5": {
|
| 78 |
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"confidence": 0.8125659823417664,
|
| 79 |
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"position": [
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| 80 |
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| 81 |
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| 82 |
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| 83 |
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],
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"orientation": {
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|
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| 89 |
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|
| 90 |
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]
|
| 91 |
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}
|
| 92 |
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},
|
| 93 |
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"grasp_6": {
|
| 94 |
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"confidence": 0.7994158864021301,
|
| 95 |
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"position": [
|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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],
|
| 100 |
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"orientation": {
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|
| 106 |
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]
|
| 107 |
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}
|
| 108 |
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},
|
| 109 |
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"grasp_8": {
|
| 110 |
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"confidence": 0.6770720481872559,
|
| 111 |
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"position": [
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|
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| 115 |
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],
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"orientation": {
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| 122 |
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]
|
| 123 |
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}
|
| 124 |
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},
|
| 125 |
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"grasp_12": {
|
| 126 |
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"confidence": 0.538385272026062,
|
| 127 |
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"position": [
|
| 128 |
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| 129 |
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| 130 |
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|
| 131 |
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],
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"orientation": {
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| 138 |
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]
|
| 139 |
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}
|
| 140 |
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},
|
| 141 |
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"grasp_14": {
|
| 142 |
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"confidence": 0.8827869296073914,
|
| 143 |
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"position": [
|
| 144 |
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|
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|
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|
| 147 |
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],
|
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"orientation": {
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|
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|
| 154 |
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]
|
| 155 |
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}
|
| 156 |
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},
|
| 157 |
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"grasp_15": {
|
| 158 |
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"confidence": 0.7962506413459778,
|
| 159 |
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"position": [
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| 160 |
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"orientation": {
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}
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},
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"grasp_16": {
|
| 174 |
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"confidence": 0.4315738379955292,
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"orientation": {
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|
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"grasp_17": {
|
| 190 |
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"confidence": 0.8994714021682739,
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},
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"grasp_18": {
|
| 206 |
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"confidence": 0.8295207023620605,
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"position": [
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{
|
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"part_name": "body of pear",
|
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|
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|
| 243 |
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|
| 259 |
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|
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| 261 |
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"provide fruit mass and shape"
|
| 262 |
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|
| 263 |
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| 366 |
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"success": true,
|
| 367 |
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"message": "YES"
|
| 368 |
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|
| 369 |
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}
|
dataset/food/fruits/8a6b23d9180d581dbdd15e5079de7bd2/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:f3e26e362e5e93647814cc2b4ec97bdf5f9238a01bbbae172d4e0c1b28cc2f12
|
| 3 |
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size 996672
|