Add asset food/fruits/8d9fed7dc3325c31a7d1b561f4a21245
Browse files
.gitattributes
CHANGED
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@@ -8298,3 +8298,4 @@ dataset/food/fruits/8435cb123963588491254338bfb82daa/affordance/mesh_part_seg.gl
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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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| 8299 |
dataset/food/fruits/8a8627a32e63500f8e0d0940e705f8bb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8300 |
dataset/food/fruits/8b8e5dcc879e5569beb32a12ff7cf488/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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| 8299 |
dataset/food/fruits/8a8627a32e63500f8e0d0940e705f8bb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8300 |
dataset/food/fruits/8b8e5dcc879e5569beb32a12ff7cf488/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8301 |
+
dataset/food/fruits/8d9fed7dc3325c31a7d1b561f4a21245/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/fruits/8d9fed7dc3325c31a7d1b561f4a21245/8d9fed7dc3325c31a7d1b561f4a21245.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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</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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<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/8d9fed7dc3325c31a7d1b561f4a21245/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,326 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "orange half",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the orange half around the rind to pick it up from a surface",
|
| 10 |
+
"confidence": 0.9
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the orange half by the sides to reposition or present the cut face",
|
| 14 |
+
"confidence": 0.84
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the orange half during cutting or squeezing",
|
| 18 |
+
"confidence": 0.72
|
| 19 |
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}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"contain juicy flesh",
|
| 24 |
+
"provide edible fruit portion",
|
| 25 |
+
"support squeezing for juice",
|
| 26 |
+
"present cut face for eating"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Halved orange fruit with a thick yellow-orange rind and red-orange segmented flesh, showing a moist glossy cut surface, slightly pebbled outer skin, and a rounded medium-sized bowl-like shape.",
|
| 29 |
+
"id": 0,
|
| 30 |
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"grasp_group": {
|
| 31 |
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"grasp_0": {
|
| 32 |
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"confidence": 0.9797634482383728,
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| 33 |
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"position": [
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| 34 |
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| 36 |
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| 37 |
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],
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| 38 |
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"orientation": {
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| 40 |
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"xyz": [
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| 44 |
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|
| 45 |
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}
|
| 46 |
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},
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| 47 |
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"grasp_1": {
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| 48 |
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| 49 |
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"grasp_2": {
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| 96 |
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dataset/food/fruits/8d9fed7dc3325c31a7d1b561f4a21245/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 739968
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