Add asset food/fruits/c3dc4a1606405f408ed5793f75c4dd36
Browse files
.gitattributes
CHANGED
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@@ -8321,3 +8321,4 @@ dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/affordance/mesh_part_seg.gl
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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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| 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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| 8324 |
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dataset/food/fruits/c3dc4a1606405f408ed5793f75c4dd36/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/fruits/c3dc4a1606405f408ed5793f75c4dd36/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
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"part_name": "lemon body",
|
| 5 |
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"mask_color": "Red",
|
| 6 |
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"graspable": true,
|
| 7 |
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"grasp_scenarios": [
|
| 8 |
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{
|
| 9 |
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"scenario": "grasp the lemon body to pick up and move the fruit",
|
| 10 |
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"confidence": 0.97
|
| 11 |
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},
|
| 12 |
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{
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| 13 |
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"scenario": "hold the lemon body steady for cutting or squeezing",
|
| 14 |
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"confidence": 0.93
|
| 15 |
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},
|
| 16 |
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{
|
| 17 |
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"scenario": "reorient the lemon by grasping its sides",
|
| 18 |
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"confidence": 0.91
|
| 19 |
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}
|
| 20 |
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],
|
| 21 |
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"functional_labels": [
|
| 22 |
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"main grasp surface",
|
| 23 |
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"contain edible flesh and juice",
|
| 24 |
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"support squeezing",
|
| 25 |
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"support cutting preparation",
|
| 26 |
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"provide overall shape"
|
| 27 |
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],
|
| 28 |
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"semantic_description": "Large oval yellow lemon body with smooth slightly glossy food skin, a firm fine-grained texture, and a gently tapered shape forming nearly the entire fruit.",
|
| 29 |
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"id": 0,
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| 30 |
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"grasp_group": {
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| 31 |
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],
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0.6145960917302294,
|
| 234 |
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0.058714254833014845,
|
| 235 |
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-0.785932594640975
|
| 236 |
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]
|
| 237 |
+
}
|
| 238 |
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},
|
| 239 |
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"grasp_17": {
|
| 240 |
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"confidence": 0.9237515330314636,
|
| 241 |
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"position": [
|
| 242 |
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0.09460583981126547,
|
| 243 |
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-0.04182396649957809,
|
| 244 |
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-0.04119269064540276
|
| 245 |
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],
|
| 246 |
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"orientation": {
|
| 247 |
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"w": 0.8302032905444447,
|
| 248 |
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"xyz": [
|
| 249 |
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-0.17955356663902652,
|
| 250 |
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-0.5274176840349694,
|
| 251 |
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-0.018804245360292692
|
| 252 |
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]
|
| 253 |
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}
|
| 254 |
+
},
|
| 255 |
+
"grasp_18": {
|
| 256 |
+
"confidence": 0.9235228896141052,
|
| 257 |
+
"position": [
|
| 258 |
+
0.09971167054027319,
|
| 259 |
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0.0391198153829464,
|
| 260 |
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-0.019847067807859275
|
| 261 |
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],
|
| 262 |
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"orientation": {
|
| 263 |
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"w": 0.19481839218413186,
|
| 264 |
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"xyz": [
|
| 265 |
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0.6356552470909488,
|
| 266 |
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0.07929053173314948,
|
| 267 |
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-0.7427659203881191
|
| 268 |
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]
|
| 269 |
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}
|
| 270 |
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},
|
| 271 |
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"grasp_19": {
|
| 272 |
+
"confidence": 0.9233534336090088,
|
| 273 |
+
"position": [
|
| 274 |
+
0.09233924653381109,
|
| 275 |
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0.06403787613271561,
|
| 276 |
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-0.004448051833605859
|
| 277 |
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],
|
| 278 |
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"orientation": {
|
| 279 |
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"w": 0.2194252541085789,
|
| 280 |
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"xyz": [
|
| 281 |
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0.6725551537697474,
|
| 282 |
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0.18847895674744852,
|
| 283 |
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-0.6811738440813256
|
| 284 |
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]
|
| 285 |
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}
|
| 286 |
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}
|
| 287 |
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}
|
| 288 |
+
},
|
| 289 |
+
{
|
| 290 |
+
"part_name": "stem end of lemon",
|
| 291 |
+
"mask_color": "Green",
|
| 292 |
+
"graspable": false,
|
| 293 |
+
"grasp_scenarios": [],
|
| 294 |
+
"functional_labels": [
|
| 295 |
+
"connect to the plant",
|
| 296 |
+
"indicate one end orientation",
|
| 297 |
+
"natural end cap"
|
| 298 |
+
],
|
| 299 |
+
"semantic_description": "Small green nub at one end of the lemon with a slightly matte, rougher food-skin texture and irregular rounded shape, positioned as a minor protrusion from the body.",
|
| 300 |
+
"id": 1,
|
| 301 |
+
"grasp_group": {}
|
| 302 |
+
},
|
| 303 |
+
{
|
| 304 |
+
"part_name": "blossom end of lemon",
|
| 305 |
+
"mask_color": "Blue",
|
| 306 |
+
"graspable": false,
|
| 307 |
+
"grasp_scenarios": [],
|
| 308 |
+
"functional_labels": [
|
| 309 |
+
"indicate opposite end orientation",
|
| 310 |
+
"natural tip feature",
|
| 311 |
+
"surface detail"
|
| 312 |
+
],
|
| 313 |
+
"semantic_description": "Small pointed blossom-end tip with a darker brownish to tan dried-looking spot and slightly rough texture, located at the opposite end of the yellow lemon body.",
|
| 314 |
+
"id": 2,
|
| 315 |
+
"grasp_group": {}
|
| 316 |
+
}
|
| 317 |
+
],
|
| 318 |
+
"quality_check": {
|
| 319 |
+
"success": true,
|
| 320 |
+
"message": "YES"
|
| 321 |
+
}
|
| 322 |
+
}
|
dataset/food/fruits/c3dc4a1606405f408ed5793f75c4dd36/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9bad316386c9d1279a186fe38602b9130082a8964238815c1e34adc509bceb80
|
| 3 |
+
size 1900280
|
dataset/food/fruits/c3dc4a1606405f408ed5793f75c4dd36/c3dc4a1606405f408ed5793f75c4dd36.urdf
CHANGED
|
@@ -52,6 +52,7 @@
|
|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
|
|
|
|
| 55 |
</affordance>
|
| 56 |
</custom_data>
|
| 57 |
</robot>
|
|
|
|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
|
| 55 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 56 |
</affordance>
|
| 57 |
</custom_data>
|
| 58 |
</robot>
|