Add asset food/fruits/49fff6b5d9c156eaba2f689eecd4d6ed
Browse files
.gitattributes
CHANGED
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@@ -8278,3 +8278,4 @@ dataset/food/fruits/3e009e62717e5c66a215f3d343c436ec/affordance/mesh_part_seg.gl
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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 |
dataset/food/fruits/48237f1cfac457ca9782931528f0f451/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 |
dataset/food/fruits/48237f1cfac457ca9782931528f0f451/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8281 |
+
dataset/food/fruits/49fff6b5d9c156eaba2f689eecd4d6ed/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/fruits/49fff6b5d9c156eaba2f689eecd4d6ed/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,575 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "banana",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp one banana at the middle to pick up or reposition the bunch",
|
| 10 |
+
"confidence": 0.72
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold one banana near its side to stabilize the bunch during inspection",
|
| 14 |
+
"confidence": 0.61
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"edible fruit body",
|
| 19 |
+
"provide main grasp surface",
|
| 20 |
+
"support lifting one fruit",
|
| 21 |
+
"occupy bunch volume"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "A long curved yellow banana with smooth slightly waxy food skin, a matte-to-soft sheen, firm but mildly compliant texture, and occasional small brown speckles, attached near the central stem cluster.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_0": {
|
| 27 |
+
"confidence": 0.9403363466262817,
|
| 28 |
+
"position": [
|
| 29 |
+
0.033664308837614954,
|
| 30 |
+
0.09927221341058612,
|
| 31 |
+
0.13302743691019714
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.268271700950505,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.7004252134133289,
|
| 37 |
+
-0.6605860188131372,
|
| 38 |
+
0.032571868730924936
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_12": {
|
| 43 |
+
"confidence": 0.6481192111968994,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.005906794802285731,
|
| 46 |
+
-0.13597116665914655,
|
| 47 |
+
0.08427465218119323
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.31753628587080585,
|
| 51 |
+
"xyz": [
|
| 52 |
+
-0.7527188024630769,
|
| 53 |
+
-0.5151298743218984,
|
| 54 |
+
-0.2592803967812271
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_14": {
|
| 59 |
+
"confidence": 0.6360166668891907,
|
| 60 |
+
"position": [
|
| 61 |
+
-0.004891196847893298,
|
| 62 |
+
-0.15490346448495984,
|
| 63 |
+
0.040944798616692424
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.4078079305386818,
|
| 67 |
+
"xyz": [
|
| 68 |
+
-0.553868003890396,
|
| 69 |
+
0.5809843273573139,
|
| 70 |
+
0.43517828234115286
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
}
|
| 74 |
+
}
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"part_name": "banana",
|
| 78 |
+
"mask_color": "Green",
|
| 79 |
+
"graspable": true,
|
| 80 |
+
"grasp_scenarios": [
|
| 81 |
+
{
|
| 82 |
+
"scenario": "grasp one banana at the middle to lift or separate part of the bunch",
|
| 83 |
+
"confidence": 0.76
|
| 84 |
+
},
|
| 85 |
+
{
|
| 86 |
+
"scenario": "hold one banana body to orient the bunch for placement",
|
| 87 |
+
"confidence": 0.64
|
| 88 |
+
}
|
| 89 |
+
],
|
| 90 |
+
"functional_labels": [
|
| 91 |
+
"edible fruit body",
|
| 92 |
+
"provide main grasp surface",
|
| 93 |
+
"support lifting one fruit",
|
| 94 |
+
"occupy bunch volume"
|
| 95 |
+
],
|
| 96 |
+
"semantic_description": "A long curved yellow banana with smooth slightly waxy food skin, a matte finish, firm texture, and light natural bruising or speckling, positioned as one of the outer fruits in the bunch.",
|
| 97 |
+
"id": 1,
|
| 98 |
+
"grasp_group": {
|
| 99 |
+
"grasp_22": {
|
| 100 |
+
"confidence": 0.9434287548065186,
|
| 101 |
+
"position": [
|
| 102 |
+
-0.13792906666640192,
|
| 103 |
+
-0.014861451927572489,
|
| 104 |
+
-0.00896146078594029
|
| 105 |
+
],
|
| 106 |
+
"orientation": {
|
| 107 |
+
"w": 0.17308044238173367,
|
| 108 |
+
"xyz": [
|
| 109 |
+
0.681700105028576,
|
| 110 |
+
0.07236706793182968,
|
| 111 |
+
0.7071712202486196
|
| 112 |
+
]
|
| 113 |
+
}
|
| 114 |
+
},
|
| 115 |
+
"grasp_23": {
|
| 116 |
+
"confidence": 0.9410232901573181,
|
| 117 |
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"position": [
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dataset/food/fruits/49fff6b5d9c156eaba2f689eecd4d6ed/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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size 3785200
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