Add asset food/fruits/395c1c156e415a759d78b61232c84280
Browse files
.gitattributes
CHANGED
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@@ -8271,3 +8271,4 @@ dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/affordance/mesh_part_seg.gl
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| 8271 |
dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8272 |
dataset/food/fruits/39189a4317b454f6a10f153dcb7a29ec/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8273 |
dataset/food/fruits/3821fa823f6d5bfa885daa5129af0355/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8271 |
dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8272 |
dataset/food/fruits/39189a4317b454f6a10f153dcb7a29ec/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8273 |
dataset/food/fruits/3821fa823f6d5bfa885daa5129af0355/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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dataset/food/fruits/395c1c156e415a759d78b61232c84280/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,242 @@
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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": "banana body",
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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 |
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"grasp_scenarios": [
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| 8 |
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{
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| 9 |
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"scenario": "grasp the banana body at the middle to pick up and move the banana",
|
| 10 |
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"confidence": 0.96
|
| 11 |
+
},
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| 12 |
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{
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| 13 |
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"scenario": "hold the banana body to stabilize it while peeling from an end",
|
| 14 |
+
"confidence": 0.86
|
| 15 |
+
},
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| 16 |
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{
|
| 17 |
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"scenario": "grasp the curved body to orient the banana for placement or inspection",
|
| 18 |
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"confidence": 0.83
|
| 19 |
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}
|
| 20 |
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],
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| 21 |
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"functional_labels": [
|
| 22 |
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"main grasp surface",
|
| 23 |
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"contain edible fruit",
|
| 24 |
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"support peeling",
|
| 25 |
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"provide overall structure",
|
| 26 |
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"indicate object orientation"
|
| 27 |
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],
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| 28 |
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"semantic_description": "Large curved banana body with light green to yellow-green food skin, a mostly matte smooth waxy surface, firm texture, elongated tapered shape, and a few small brown bruise speckles along the peel.",
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| 29 |
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"id": 0,
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| 30 |
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"grasp_group": {
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},
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"grasp_1": {
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"confidence": 0.9839037656784058,
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"confidence": 0.9816385507583618,
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],
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"orientation": {
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]
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},
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"grasp_15": {
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"confidence": 0.9815405607223511,
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"position": [
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"orientation": {
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]
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}
|
| 174 |
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},
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"grasp_16": {
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| 176 |
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"confidence": 0.9814080595970154,
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"position": [
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],
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"orientation": {
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]
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|
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},
|
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"grasp_17": {
|
| 192 |
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"confidence": 0.9812427759170532,
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"position": [
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],
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"orientation": {
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"w": 0.7813037122874938,
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"xyz": [
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| 204 |
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]
|
| 205 |
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}
|
| 206 |
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}
|
| 207 |
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}
|
| 208 |
+
},
|
| 209 |
+
{
|
| 210 |
+
"part_name": "stem of banana",
|
| 211 |
+
"mask_color": "Green",
|
| 212 |
+
"graspable": true,
|
| 213 |
+
"grasp_scenarios": [
|
| 214 |
+
{
|
| 215 |
+
"scenario": "delicately grasp the stem to orient the banana before a body grasp",
|
| 216 |
+
"confidence": 0.42
|
| 217 |
+
},
|
| 218 |
+
{
|
| 219 |
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"scenario": "hold the stem to start a peeling manipulation",
|
| 220 |
+
"confidence": 0.38
|
| 221 |
+
},
|
| 222 |
+
{
|
| 223 |
+
"scenario": "lift the banana briefly by the stem in a careful low-load pick",
|
| 224 |
+
"confidence": 0.24
|
| 225 |
+
}
|
| 226 |
+
],
|
| 227 |
+
"functional_labels": [
|
| 228 |
+
"attach to bunch",
|
| 229 |
+
"provide peeling start point",
|
| 230 |
+
"indicate top end",
|
| 231 |
+
"assist orientation"
|
| 232 |
+
],
|
| 233 |
+
"semantic_description": "Small short banana stem at one end, green with a cut tan-brown tip, hard fibrous plant material, slightly matte finish, and a blunt cylindrical shape protruding from the peel.",
|
| 234 |
+
"id": 1,
|
| 235 |
+
"grasp_group": {}
|
| 236 |
+
}
|
| 237 |
+
],
|
| 238 |
+
"quality_check": {
|
| 239 |
+
"success": true,
|
| 240 |
+
"message": "YES"
|
| 241 |
+
}
|
| 242 |
+
}
|
dataset/food/fruits/395c1c156e415a759d78b61232c84280/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
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|
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|
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| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6af5608cfdd42280db044d16e42f01d076b3c8bf6f8578df9897273b1a1414ce
|
| 3 |
+
size 3777852
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