Add asset food/fruits/68bea4eca7a05f40a552c214acc44937
Browse files
.gitattributes
CHANGED
|
@@ -8288,3 +8288,4 @@ dataset/food/fruits/58caf9a4b7165cd6bd152a45ea9c9620/affordance/mesh_part_seg.gl
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| 8288 |
dataset/food/fruits/5e82b7ef85625ba6ad9abd7cd8272161/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8289 |
dataset/food/fruits/6072327ff43954b6b7fb76075d1442ff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8290 |
dataset/food/fruits/64ed05bd96c553e8b231e767accce641/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8288 |
dataset/food/fruits/5e82b7ef85625ba6ad9abd7cd8272161/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8289 |
dataset/food/fruits/6072327ff43954b6b7fb76075d1442ff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8290 |
dataset/food/fruits/64ed05bd96c553e8b231e767accce641/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8291 |
+
dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/68bea4eca7a05f40a552c214acc44937.urdf
CHANGED
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@@ -52,6 +52,7 @@
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| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
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| 53 |
</geometry>
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</visual_seg>
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</affordance>
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</custom_data>
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</robot>
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| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
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</geometry>
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</visual_seg>
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+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
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| 56 |
</affordance>
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| 57 |
</custom_data>
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| 58 |
</robot>
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dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,606 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "strawberry body",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the strawberry body to pick up the fruit",
|
| 10 |
+
"confidence": 0.94
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the strawberry body to place or sort the fruit",
|
| 14 |
+
"confidence": 0.91
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the strawberry body during inspection",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"contain edible flesh",
|
| 24 |
+
"support handling",
|
| 25 |
+
"provide bulk of the fruit"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large conical red fruit body with glossy smooth food skin, fine seed-studded texture, and a firm fleshy surface forming most of the strawberry.",
|
| 28 |
+
"id": 1,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9575798511505127,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.06656850874423981,
|
| 34 |
+
0.08785143378190696,
|
| 35 |
+
-0.00433808121306356
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.323670373141799,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.5782793585320322,
|
| 41 |
+
-0.3735889391482269,
|
| 42 |
+
0.6490468223419116
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9530957937240601,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.01831669919192791,
|
| 50 |
+
0.09971314552240074,
|
| 51 |
+
0.033999299412244
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.340960371120534,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.5804206815518967,
|
| 57 |
+
-0.5628920123834315,
|
| 58 |
+
0.47959403681354307
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.9500474333763123,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.011051928624510765,
|
| 66 |
+
0.09330277028493583,
|
| 67 |
+
0.04632362142729107
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.31509540255507384,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.5944742390717068,
|
| 73 |
+
-0.602714410920944,
|
| 74 |
+
0.42901119476884303
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_3": {
|
| 79 |
+
"confidence": 0.9497469067573547,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.020263582468032837,
|
| 82 |
+
0.09767674538306892,
|
| 83 |
+
0.030822068234556355
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.48031517978952076,
|
| 87 |
+
"xyz": [
|
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dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:eeb038bbf73d1e37d1ea66eb59da31aa68b9ca2ea51afba08a30f13e26afd7ff
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| 3 |
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size 932008
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