xinjjj commited on
Commit
3bfe1aa
·
verified ·
1 Parent(s): 9824c82

Add asset food/fruits/b87c509ffae15b3b92efcc8262bf2a1f

Browse files
.gitattributes CHANGED
@@ -8316,3 +8316,4 @@ dataset/food/fruits/ab255ab7d8cc501cbbc2c67f6902565f/affordance/mesh_part_seg.gl
8316
  dataset/food/fruits/ab5078c936f05cdaa895480068e769d5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8317
  dataset/food/fruits/ae283eef0c1f5ca0b2af059fc073a3eb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8318
  dataset/food/fruits/b8770d2bca5c5afe8e3e9ab03e007365/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8316
  dataset/food/fruits/ab5078c936f05cdaa895480068e769d5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8317
  dataset/food/fruits/ae283eef0c1f5ca0b2af059fc073a3eb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8318
  dataset/food/fruits/b8770d2bca5c5afe8e3e9ab03e007365/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8319
+ dataset/food/fruits/b87c509ffae15b3b92efcc8262bf2a1f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/food/fruits/b87c509ffae15b3b92efcc8262bf2a1f/affordance/affordance_annot.json ADDED
@@ -0,0 +1,322 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "banana body",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the banana body around the middle to pick up the banana",
10
+ "confidence": 0.96
11
+ },
12
+ {
13
+ "scenario": "hold the banana body to stabilize it for cutting or peeling",
14
+ "confidence": 0.86
15
+ },
16
+ {
17
+ "scenario": "grasp the banana body to place or reorient the fruit",
18
+ "confidence": 0.9
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "contain edible fruit",
24
+ "support peeling",
25
+ "stabilize during handling",
26
+ "indicate overall orientation"
27
+ ],
28
+ "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
+ "id": 0,
30
+ "grasp_group": {
31
+ "grasp_1": {
32
+ "confidence": 0.9892131686210632,
33
+ "position": [
34
+ -0.0007742028683423996,
35
+ -0.09553251147735864,
36
+ 0.03747230675071478
37
+ ],
38
+ "orientation": {
39
+ "w": 0.5171144181606483,
40
+ "xyz": [
41
+ -0.5597385834859008,
42
+ 0.5326985681967565,
43
+ 0.36812719558421286
44
+ ]
45
+ }
46
+ },
47
+ "grasp_2": {
48
+ "confidence": 0.9884077906608582,
49
+ "position": [
50
+ -0.021217976696789265,
51
+ -0.09329884976614267,
52
+ 0.03366735111922026
53
+ ],
54
+ "orientation": {
55
+ "w": 0.30011332977155714,
56
+ "xyz": [
57
+ -0.5587744216293792,
58
+ -0.5129364241508941,
59
+ -0.5784456411846108
60
+ ]
61
+ }
62
+ },
63
+ "grasp_3": {
64
+ "confidence": 0.9877106547355652,
65
+ "position": [
66
+ 0.005192354321479797,
67
+ -0.0971081304596737,
68
+ 0.024349405779503286
69
+ ],
70
+ "orientation": {
71
+ "w": 0.5703844577669984,
72
+ "xyz": [
73
+ -0.5717598254633793,
74
+ 0.4596149170210766,
75
+ 0.36946772575644815
76
+ ]
77
+ }
78
+ },
79
+ "grasp_4": {
80
+ "confidence": 0.9877025485038757,
81
+ "position": [
82
+ 0.006482880562543869,
83
+ 0.08086008101236075,
84
+ 0.07093976624310017
85
+ ],
86
+ "orientation": {
87
+ "w": 0.40602099553220994,
88
+ "xyz": [
89
+ 0.6395951122929963,
90
+ 0.60297092622605,
91
+ -0.24998221065516268
92
+ ]
93
+ }
94
+ },
95
+ "grasp_5": {
96
+ "confidence": 0.9874070882797241,
97
+ "position": [
98
+ -0.010451926034875214,
99
+ 0.09445103525649756,
100
+ 0.024646720616146922
101
+ ],
102
+ "orientation": {
103
+ "w": 0.35998184310027814,
104
+ "xyz": [
105
+ 0.5410678645305799,
106
+ -0.48898864933606023,
107
+ 0.5818494130193316
108
+ ]
109
+ }
110
+ },
111
+ "grasp_6": {
112
+ "confidence": 0.9873644709587097,
113
+ "position": [
114
+ 0.012831691652536392,
115
+ 0.0970391136361286,
116
+ 0.017913542687892914
117
+ ],
118
+ "orientation": {
119
+ "w": 0.41176621273600794,
120
+ "xyz": [
121
+ 0.4748218521310643,
122
+ -0.5184388349677002,
123
+ 0.5798396064302651
124
+ ]
125
+ }
126
+ },
127
+ "grasp_9": {
128
+ "confidence": 0.9869482517242432,
129
+ "position": [
130
+ 0.020221199840307236,
131
+ -0.09274781227577478,
132
+ 0.035954116843640804
133
+ ],
134
+ "orientation": {
135
+ "w": 0.38076404998939767,
136
+ "xyz": [
137
+ -0.47880695093425035,
138
+ -0.6136323501790893,
139
+ -0.49921736827398644
140
+ ]
141
+ }
142
+ },
143
+ "grasp_10": {
144
+ "confidence": 0.9868135452270508,
145
+ "position": [
146
+ -0.028577717021107674,
147
+ 0.08589933335315436,
148
+ 0.006012551486492157
149
+ ],
150
+ "orientation": {
151
+ "w": 0.3203154046723291,
152
+ "xyz": [
153
+ 0.5272701932087905,
154
+ -0.3895778110864807,
155
+ 0.6838225749360957
156
+ ]
157
+ }
158
+ },
159
+ "grasp_11": {
160
+ "confidence": 0.9867634177207947,
161
+ "position": [
162
+ -0.017453626729547977,
163
+ 0.09087012975942343,
164
+ 0.020601765252649784
165
+ ],
166
+ "orientation": {
167
+ "w": 0.6408499690625402,
168
+ "xyz": [
169
+ 0.4619340506834949,
170
+ 0.5467175064757008,
171
+ -0.2775395793119804
172
+ ]
173
+ }
174
+ },
175
+ "grasp_12": {
176
+ "confidence": 0.9865266680717468,
177
+ "position": [
178
+ -0.024698853492736816,
179
+ 0.08700818836223334,
180
+ 0.012651413679122925
181
+ ],
182
+ "orientation": {
183
+ "w": 0.2706205278801454,
184
+ "xyz": [
185
+ 0.5325735211549917,
186
+ -0.4288796267516972,
187
+ 0.6776372482470029
188
+ ]
189
+ }
190
+ },
191
+ "grasp_13": {
192
+ "confidence": 0.9864610433578491,
193
+ "position": [
194
+ -0.03536026552319527,
195
+ -0.08892233402002603,
196
+ 0.026866197120398283
197
+ ],
198
+ "orientation": {
199
+ "w": 0.2569935553952879,
200
+ "xyz": [
201
+ -0.5687604759551005,
202
+ -0.48213056235223994,
203
+ -0.6148300206744383
204
+ ]
205
+ }
206
+ },
207
+ "grasp_14": {
208
+ "confidence": 0.9863390922546387,
209
+ "position": [
210
+ 0.01769624836742878,
211
+ -0.0972599881934002,
212
+ 0.038319056853652
213
+ ],
214
+ "orientation": {
215
+ "w": 0.484473161265592,
216
+ "xyz": [
217
+ -0.6047595845761813,
218
+ 0.4963547648200066,
219
+ 0.391386699208142
220
+ ]
221
+ }
222
+ },
223
+ "grasp_15": {
224
+ "confidence": 0.9863389730453491,
225
+ "position": [
226
+ 0.018088864162564278,
227
+ 0.09551433741580695,
228
+ 0.007292288355529308
229
+ ],
230
+ "orientation": {
231
+ "w": 0.44391555453516335,
232
+ "xyz": [
233
+ 0.42015494351369037,
234
+ -0.5211693123356513,
235
+ 0.5956436449441317
236
+ ]
237
+ }
238
+ },
239
+ "grasp_17": {
240
+ "confidence": 0.9861426949501038,
241
+ "position": [
242
+ 0.007708851248025894,
243
+ 0.07905667542945594,
244
+ 0.07113806717097759
245
+ ],
246
+ "orientation": {
247
+ "w": 0.3839212507012718,
248
+ "xyz": [
249
+ 0.6553428460704288,
250
+ 0.5940088801004274,
251
+ -0.2651106895734631
252
+ ]
253
+ }
254
+ },
255
+ "grasp_18": {
256
+ "confidence": 0.9858464598655701,
257
+ "position": [
258
+ 0.0068982383236289024,
259
+ -0.0963449525879696,
260
+ 0.031753635965287685
261
+ ],
262
+ "orientation": {
263
+ "w": 0.3368295629034988,
264
+ "xyz": [
265
+ -0.5284694191431253,
266
+ -0.5359660363357494,
267
+ -0.5656910167921286
268
+ ]
269
+ }
270
+ },
271
+ "grasp_19": {
272
+ "confidence": 0.9854121804237366,
273
+ "position": [
274
+ -0.0012245019897818565,
275
+ -0.09747380495537072,
276
+ 0.021097370539791882
277
+ ],
278
+ "orientation": {
279
+ "w": 0.5396850498526746,
280
+ "xyz": [
281
+ -0.5292850454048816,
282
+ 0.49879762963536156,
283
+ 0.4240263109129114
284
+ ]
285
+ }
286
+ }
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