Add asset food/fruits/b87c509ffae15b3b92efcc8262bf2a1f
Browse files
.gitattributes
CHANGED
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@@ -8316,3 +8316,4 @@ dataset/food/fruits/ab255ab7d8cc501cbbc2c67f6902565f/affordance/mesh_part_seg.gl
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| 8316 |
dataset/food/fruits/ab5078c936f05cdaa895480068e769d5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8317 |
dataset/food/fruits/ae283eef0c1f5ca0b2af059fc073a3eb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8318 |
dataset/food/fruits/b8770d2bca5c5afe8e3e9ab03e007365/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8316 |
dataset/food/fruits/ab5078c936f05cdaa895480068e769d5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8317 |
dataset/food/fruits/ae283eef0c1f5ca0b2af059fc073a3eb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8318 |
dataset/food/fruits/b8770d2bca5c5afe8e3e9ab03e007365/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8319 |
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dataset/food/fruits/b87c509ffae15b3b92efcc8262bf2a1f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/fruits/b87c509ffae15b3b92efcc8262bf2a1f/affordance/affordance_annot.json
ADDED
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
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{
|
| 4 |
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"part_name": "banana body",
|
| 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 around the middle to pick up the banana",
|
| 10 |
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"confidence": 0.96
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| 11 |
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},
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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 for cutting or peeling",
|
| 14 |
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"confidence": 0.86
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| 15 |
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},
|
| 16 |
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{
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| 17 |
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"scenario": "grasp the banana body to place or reorient the fruit",
|
| 18 |
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"confidence": 0.9
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| 19 |
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}
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| 20 |
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],
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| 21 |
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"functional_labels": [
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| 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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"stabilize during handling",
|
| 26 |
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"indicate overall orientation"
|
| 27 |
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],
|
| 28 |
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"semantic_description": "Large curved yellow banana peel body with a slightly glossy smooth food skin, firm surface, elongated tapered shape, and a few small dark speckles along the sides.",
|
| 29 |
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"id": 0,
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| 30 |
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0.42015494351369037,
|
| 234 |
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-0.5211693123356513,
|
| 235 |
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0.5956436449441317
|
| 236 |
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]
|
| 237 |
+
}
|
| 238 |
+
},
|
| 239 |
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"grasp_17": {
|
| 240 |
+
"confidence": 0.9861426949501038,
|
| 241 |
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"position": [
|
| 242 |
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0.007708851248025894,
|
| 243 |
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0.07905667542945594,
|
| 244 |
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0.07113806717097759
|
| 245 |
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],
|
| 246 |
+
"orientation": {
|
| 247 |
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"w": 0.3839212507012718,
|
| 248 |
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"xyz": [
|
| 249 |
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0.6553428460704288,
|
| 250 |
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0.5940088801004274,
|
| 251 |
+
-0.2651106895734631
|
| 252 |
+
]
|
| 253 |
+
}
|
| 254 |
+
},
|
| 255 |
+
"grasp_18": {
|
| 256 |
+
"confidence": 0.9858464598655701,
|
| 257 |
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"position": [
|
| 258 |
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0.0068982383236289024,
|
| 259 |
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-0.0963449525879696,
|
| 260 |
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0.031753635965287685
|
| 261 |
+
],
|
| 262 |
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"orientation": {
|
| 263 |
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"w": 0.3368295629034988,
|
| 264 |
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"xyz": [
|
| 265 |
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|
| 266 |
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|
| 267 |
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-0.5656910167921286
|
| 268 |
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]
|
| 269 |
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}
|
| 270 |
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},
|
| 271 |
+
"grasp_19": {
|
| 272 |
+
"confidence": 0.9854121804237366,
|
| 273 |
+
"position": [
|
| 274 |
+
-0.0012245019897818565,
|
| 275 |
+
-0.09747380495537072,
|
| 276 |
+
0.021097370539791882
|
| 277 |
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],
|
| 278 |
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"orientation": {
|
| 279 |
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"w": 0.5396850498526746,
|
| 280 |
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"xyz": [
|
| 281 |
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|
| 282 |
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|
| 283 |
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|
| 284 |
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]
|
| 285 |
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}
|
| 286 |
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}
|
| 287 |
+
}
|
| 288 |
+
},
|
| 289 |
+
{
|
| 290 |
+
"part_name": "stem of banana",
|
| 291 |
+
"mask_color": "Green",
|
| 292 |
+
"graspable": true,
|
| 293 |
+
"grasp_scenarios": [
|
| 294 |
+
{
|
| 295 |
+
"scenario": "delicately grasp the stem to orient the banana",
|
| 296 |
+
"confidence": 0.42
|
| 297 |
+
},
|
| 298 |
+
{
|
| 299 |
+
"scenario": "hold the stem to start peeling the banana",
|
| 300 |
+
"confidence": 0.36
|
| 301 |
+
},
|
| 302 |
+
{
|
| 303 |
+
"scenario": "lift the banana by the stem in a light-duty pick",
|
| 304 |
+
"confidence": 0.24
|
| 305 |
+
}
|
| 306 |
+
],
|
| 307 |
+
"functional_labels": [
|
| 308 |
+
"provide peel-start point",
|
| 309 |
+
"connect to bunch",
|
| 310 |
+
"indicate top orientation",
|
| 311 |
+
"support light delicate handling"
|
| 312 |
+
],
|
| 313 |
+
"semantic_description": "Small brown stem at one end of the banana, with a hard fibrous texture, matte slightly rough surface, and short knobby tapered form protruding from the top.",
|
| 314 |
+
"id": 1,
|
| 315 |
+
"grasp_group": {}
|
| 316 |
+
}
|
| 317 |
+
],
|
| 318 |
+
"quality_check": {
|
| 319 |
+
"success": true,
|
| 320 |
+
"message": "YES"
|
| 321 |
+
}
|
| 322 |
+
}
|
dataset/food/fruits/b87c509ffae15b3b92efcc8262bf2a1f/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:872462484bf4b66e32a16c3bb40a42a35c995c2deffeac07dc729019ec945ad3
|
| 3 |
+
size 3778032
|