Add asset food/fruits/c1ec1766ad505dd2aa7d0f288d7aea51
Browse files
.gitattributes
CHANGED
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@@ -8320,3 +8320,4 @@ dataset/food/fruits/b87c509ffae15b3b92efcc8262bf2a1f/affordance/mesh_part_seg.gl
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| 8320 |
dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8321 |
dataset/food/fruits/bbe9f0bc72aa5a148241beea0a8ab026/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8322 |
dataset/food/fruits/bfecffb87a0357eab8d32dd7fb75c69f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8320 |
dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8321 |
dataset/food/fruits/bbe9f0bc72aa5a148241beea0a8ab026/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8322 |
dataset/food/fruits/bfecffb87a0357eab8d32dd7fb75c69f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8323 |
+
dataset/food/fruits/c1ec1766ad505dd2aa7d0f288d7aea51/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/fruits/c1ec1766ad505dd2aa7d0f288d7aea51/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "calyx and stem of strawberry",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "delicately grasp the leafy top to orient the strawberry",
|
| 10 |
+
"confidence": 0.36
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "lightly hold the stem-top area to stabilize the fruit during placement",
|
| 14 |
+
"confidence": 0.29
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "lift the strawberry by the stem and calyx",
|
| 18 |
+
"confidence": 0.14
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"connect to plant",
|
| 23 |
+
"indicate top orientation",
|
| 24 |
+
"cover the fruit top",
|
| 25 |
+
"provide a small manipulation point"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Small green leafy calyx with a short pale green to brown stem, matte and slightly waxy with thin flexible pointed lobes, located at the top of the strawberry.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_1": {
|
| 31 |
+
"confidence": 0.7471378445625305,
|
| 32 |
+
"position": [
|
| 33 |
+
0.0014295048895291984,
|
| 34 |
+
0.11216930393129587,
|
| 35 |
+
0.0765066253952682
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
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"w": 0.2434294388062687,
|
| 39 |
+
"xyz": [
|
| 40 |
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|
| 41 |
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0.7848142984392565,
|
| 42 |
+
-0.41421832114000606
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_3": {
|
| 47 |
+
"confidence": 0.8316384553909302,
|
| 48 |
+
"position": [
|
| 49 |
+
0.04213265801081434,
|
| 50 |
+
0.08983712736517191,
|
| 51 |
+
0.08641495136544108
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
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"w": 0.26071344239114913,
|
| 55 |
+
"xyz": [
|
| 56 |
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0.11061761376270464,
|
| 57 |
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-0.9118598310537838,
|
| 58 |
+
0.29715970957141286
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_5": {
|
| 63 |
+
"confidence": 0.7402442693710327,
|
| 64 |
+
"position": [
|
| 65 |
+
0.04346703091869131,
|
| 66 |
+
0.10786887351423502,
|
| 67 |
+
0.0712348553352058
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.2310149902108113,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.01901899558083323,
|
| 73 |
+
-0.8718994205045789,
|
| 74 |
+
0.43134875985538024
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_10": {
|
| 79 |
+
"confidence": 0.8063041567802429,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.008941751846577972,
|
| 82 |
+
0.10999888274818659,
|
| 83 |
+
0.0738089713267982
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.19714698807923078,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.2155699878412857,
|
| 89 |
+
0.8532273917093511,
|
| 90 |
+
-0.43204821891804346
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_18": {
|
| 95 |
+
"confidence": 0.8741512298583984,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.015884884574916214,
|
| 98 |
+
0.11352489981800318,
|
| 99 |
+
0.0624418961815536
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.43456510388675046,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.5705362141711093,
|
| 105 |
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0.6275142104740086,
|
| 106 |
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-0.3030965431283859
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
}
|
| 110 |
+
}
|
| 111 |
+
},
|
| 112 |
+
{
|
| 113 |
+
"part_name": "strawberry body",
|
| 114 |
+
"mask_color": "Green",
|
| 115 |
+
"graspable": true,
|
| 116 |
+
"grasp_scenarios": [
|
| 117 |
+
{
|
| 118 |
+
"scenario": "grasp the strawberry body to pick it up",
|
| 119 |
+
"confidence": 0.89
|
| 120 |
+
},
|
| 121 |
+
{
|
| 122 |
+
"scenario": "hold the fruit body to reposition or place it",
|
| 123 |
+
"confidence": 0.86
|
| 124 |
+
},
|
| 125 |
+
{
|
| 126 |
+
"scenario": "stabilize the strawberry body during inspection",
|
| 127 |
+
"confidence": 0.82
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"functional_labels": [
|
| 131 |
+
"contain edible flesh",
|
| 132 |
+
"main grasp surface",
|
| 133 |
+
"support handling",
|
| 134 |
+
"provide the primary fruit mass"
|
| 135 |
+
],
|
| 136 |
+
"semantic_description": "Large heart-like strawberry body with very pale pink food skin, a smooth slightly glossy finish, fine seed dimples, and a soft-looking firm surface forming most of the fruit.",
|
| 137 |
+
"id": 1,
|
| 138 |
+
"grasp_group": {
|
| 139 |
+
"grasp_20": {
|
| 140 |
+
"confidence": 0.9607078433036804,
|
| 141 |
+
"position": [
|
| 142 |
+
0.09253025153884664,
|
| 143 |
+
-0.03697103913873434,
|
| 144 |
+
0.039261921774595976
|
| 145 |
+
],
|
| 146 |
+
"orientation": {
|
| 147 |
+
"w": 0.5214287829708631,
|
| 148 |
+
"xyz": [
|
| 149 |
+
0.013943826039527525,
|
| 150 |
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-0.8194563923062835,
|
| 151 |
+
-0.23750540017707802
|
| 152 |
+
]
|
| 153 |
+
}
|
| 154 |
+
},
|
| 155 |
+
"grasp_21": {
|
| 156 |
+
"confidence": 0.9605781435966492,
|
| 157 |
+
"position": [
|
| 158 |
+
0.10459164628991857,
|
| 159 |
+
-0.0274271247908473,
|
| 160 |
+
0.01599694648757577
|
| 161 |
+
],
|
| 162 |
+
"orientation": {
|
| 163 |
+
"w": 0.6136406910072093,
|
| 164 |
+
"xyz": [
|
| 165 |
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0.09799781375173684,
|
| 166 |
+
-0.748416384106122,
|
| 167 |
+
-0.23176377379045185
|
| 168 |
+
]
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"grasp_22": {
|
| 172 |
+
"confidence": 0.9581683874130249,
|
| 173 |
+
"position": [
|
| 174 |
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0.07606519857654348,
|
| 175 |
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-0.06190189626067877,
|
| 176 |
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0.04732487304136157
|
| 177 |
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],
|
| 178 |
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"orientation": {
|
| 179 |
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"w": 0.4505608568393686,
|
| 180 |
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"xyz": [
|
| 181 |
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-0.0894808889117053,
|
| 182 |
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-0.8444897431366357,
|
| 183 |
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-0.2753636841356608
|
| 184 |
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]
|
| 185 |
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}
|
| 186 |
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},
|
| 187 |
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"grasp_23": {
|
| 188 |
+
"confidence": 0.9578061699867249,
|
| 189 |
+
"position": [
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dataset/food/fruits/c1ec1766ad505dd2aa7d0f288d7aea51/affordance/mesh_part_seg.glb
ADDED
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@@ -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 3778820
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