Add asset food/ingredients/e57f6dc05c865a0bae1a058a983f7ed6
Browse files
.gitattributes
CHANGED
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@@ -6838,3 +6838,4 @@ dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/affordance/mesh_part_s
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| 6838 |
dataset/food/ingredients/e19a24c944775a0aa2dccc198f95bb7f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6839 |
dataset/food/ingredients/e303e944339357f3852af01f4088ab3e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6840 |
dataset/food/ingredients/e32eba9b801b5e1c95018ffab603df9c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6838 |
dataset/food/ingredients/e19a24c944775a0aa2dccc198f95bb7f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6839 |
dataset/food/ingredients/e303e944339357f3852af01f4088ab3e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6840 |
dataset/food/ingredients/e32eba9b801b5e1c95018ffab603df9c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6841 |
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dataset/food/ingredients/e57f6dc05c865a0bae1a058a983f7ed6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/ingredients/e57f6dc05c865a0bae1a058a983f7ed6/affordance/affordance_annot.json
ADDED
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "calyx of tomato",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "delicately grasp the calyx to orient the tomato by its top",
|
| 10 |
+
"confidence": 0.24
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "lightly pinch the calyx to stabilize the tomato during inspection",
|
| 14 |
+
"confidence": 0.19
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"indicate top orientation",
|
| 19 |
+
"protect the stem end",
|
| 20 |
+
"provide a minor pinch point"
|
| 21 |
+
],
|
| 22 |
+
"semantic_description": "Small green leafy calyx at the tomato top with a matte slightly rough plant texture, thin pointed lobes, and a star-shaped form around the stem end.",
|
| 23 |
+
"id": 0,
|
| 24 |
+
"grasp_group": {
|
| 25 |
+
"grasp_0": {
|
| 26 |
+
"confidence": 0.5152806639671326,
|
| 27 |
+
"position": [
|
| 28 |
+
0.004534636769676581,
|
| 29 |
+
0.09629877051338553,
|
| 30 |
+
0.0182361863553524
|
| 31 |
+
],
|
| 32 |
+
"orientation": {
|
| 33 |
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"w": 0.5137476382204887,
|
| 34 |
+
"xyz": [
|
| 35 |
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0.6081606226673685,
|
| 36 |
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0.46094428025127154,
|
| 37 |
+
-0.39208977513236154
|
| 38 |
+
]
|
| 39 |
+
}
|
| 40 |
+
}
|
| 41 |
+
}
|
| 42 |
+
},
|
| 43 |
+
{
|
| 44 |
+
"part_name": "body of tomato",
|
| 45 |
+
"mask_color": "Green",
|
| 46 |
+
"graspable": true,
|
| 47 |
+
"grasp_scenarios": [
|
| 48 |
+
{
|
| 49 |
+
"scenario": "grasp the tomato body to pick it up",
|
| 50 |
+
"confidence": 0.95
|
| 51 |
+
},
|
| 52 |
+
{
|
| 53 |
+
"scenario": "hold the tomato body to reposition it for inspection",
|
| 54 |
+
"confidence": 0.92
|
| 55 |
+
},
|
| 56 |
+
{
|
| 57 |
+
"scenario": "stabilize the tomato body during cutting or placement",
|
| 58 |
+
"confidence": 0.89
|
| 59 |
+
}
|
| 60 |
+
],
|
| 61 |
+
"functional_labels": [
|
| 62 |
+
"main grasp surface",
|
| 63 |
+
"contain edible flesh",
|
| 64 |
+
"support handling",
|
| 65 |
+
"provide bulk of the fruit"
|
| 66 |
+
],
|
| 67 |
+
"semantic_description": "Large rounded red tomato body with glossy smooth food skin, a firm slightly compliant texture, and an oval shape forming nearly the entire fruit beneath the top calyx.",
|
| 68 |
+
"id": 1,
|
| 69 |
+
"grasp_group": {
|
| 70 |
+
"grasp_2": {
|
| 71 |
+
"confidence": 0.9935043454170227,
|
| 72 |
+
"position": [
|
| 73 |
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0.026389693055534735,
|
| 74 |
+
-0.10061236331239343,
|
| 75 |
+
0.009862223640084267
|
| 76 |
+
],
|
| 77 |
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"orientation": {
|
| 78 |
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"w": 0.6665299762705541,
|
| 79 |
+
"xyz": [
|
| 80 |
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|
| 81 |
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-0.12952329790448758,
|
| 82 |
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|
| 83 |
+
]
|
| 84 |
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}
|
| 85 |
+
},
|
| 86 |
+
"grasp_4": {
|
| 87 |
+
"confidence": 0.993198037147522,
|
| 88 |
+
"position": [
|
| 89 |
+
0.025609997246647254,
|
| 90 |
+
-0.09613001206889749,
|
| 91 |
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0.03627846948802471
|
| 92 |
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],
|
| 93 |
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"orientation": {
|
| 94 |
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"w": 0.570005317239924,
|
| 95 |
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"xyz": [
|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
+
]
|
| 100 |
+
}
|
| 101 |
+
},
|
| 102 |
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"grasp_5": {
|
| 103 |
+
"confidence": 0.9931920170783997,
|
| 104 |
+
"position": [
|
| 105 |
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|
| 106 |
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-0.09984559426084161,
|
| 107 |
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0.009688681922852993
|
| 108 |
+
],
|
| 109 |
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"orientation": {
|
| 110 |
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"w": 0.665117941945086,
|
| 111 |
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"xyz": [
|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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]
|
| 116 |
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}
|
| 117 |
+
},
|
| 118 |
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"grasp_6": {
|
| 119 |
+
"confidence": 0.9931146502494812,
|
| 120 |
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"position": [
|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
+
],
|
| 125 |
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"orientation": {
|
| 126 |
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"w": 0.5970976047411339,
|
| 127 |
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"xyz": [
|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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]
|
| 132 |
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}
|
| 133 |
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},
|
| 134 |
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"grasp_7": {
|
| 135 |
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"confidence": 0.9930797219276428,
|
| 136 |
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"position": [
|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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],
|
| 141 |
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"orientation": {
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| 142 |
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"w": 0.698781579548439,
|
| 143 |
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"xyz": [
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| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
+
]
|
| 148 |
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}
|
| 149 |
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},
|
| 150 |
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"grasp_8": {
|
| 151 |
+
"confidence": 0.9930186867713928,
|
| 152 |
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"position": [
|
| 153 |
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0.03092158879735507,
|
| 154 |
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|
| 155 |
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-0.004734603688120842
|
| 156 |
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],
|
| 157 |
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"orientation": {
|
| 158 |
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"w": 0.7147832580110746,
|
| 159 |
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"xyz": [
|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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]
|
| 164 |
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}
|
| 165 |
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},
|
| 166 |
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"grasp_9": {
|
| 167 |
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"confidence": 0.9929821491241455,
|
| 168 |
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"position": [
|
| 169 |
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0.030059754062676802,
|
| 170 |
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|
| 171 |
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|
| 172 |
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],
|
| 173 |
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"orientation": {
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| 174 |
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"w": 0.6236815366983833,
|
| 175 |
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"xyz": [
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|
| 178 |
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|
| 179 |
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]
|
| 180 |
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}
|
| 181 |
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},
|
| 182 |
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"grasp_10": {
|
| 183 |
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"confidence": 0.9928340911865234,
|
| 184 |
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"position": [
|
| 185 |
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|
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|
| 187 |
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|
| 188 |
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],
|
| 189 |
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"orientation": {
|
| 190 |
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"w": 0.6599446247618019,
|
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"xyz": [
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|
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|
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|
| 195 |
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]
|
| 196 |
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}
|
| 197 |
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},
|
| 198 |
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"grasp_11": {
|
| 199 |
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"confidence": 0.9927943348884583,
|
| 200 |
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"position": [
|
| 201 |
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|
| 202 |
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|
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|
| 204 |
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],
|
| 205 |
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"orientation": {
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"w": 0.7049312335022903,
|
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"xyz": [
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| 211 |
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]
|
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}
|
| 213 |
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},
|
| 214 |
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"grasp_12": {
|
| 215 |
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"confidence": 0.9927492141723633,
|
| 216 |
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"position": [
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|
| 220 |
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dataset/food/ingredients/e57f6dc05c865a0bae1a058a983f7ed6/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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| 3 |
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size 1784564
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