Add asset food/ingredients/dc50c054d27a5e39b9ef8d618765ba63
Browse files
.gitattributes
CHANGED
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@@ -6831,3 +6831,4 @@ dataset/food/ingredients/d0213701033552fdb970ddfbb799a5c4/affordance/mesh_part_s
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| 6831 |
dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6832 |
dataset/food/ingredients/d5a09d6a88e453b5953b4a6dff3ba6ef/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6833 |
dataset/food/ingredients/dbe9f14115b052d89c6ff4234c11414c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6831 |
dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6832 |
dataset/food/ingredients/d5a09d6a88e453b5953b4a6dff3ba6ef/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6833 |
dataset/food/ingredients/dbe9f14115b052d89c6ff4234c11414c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6834 |
+
dataset/food/ingredients/dc50c054d27a5e39b9ef8d618765ba63/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/ingredients/dc50c054d27a5e39b9ef8d618765ba63/affordance/affordance_annot.json
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "chili body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the chili body to pick up and move the chili",
|
| 10 |
+
"confidence": 0.93
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the chili body to stabilize it for cutting or inspection",
|
| 14 |
+
"confidence": 0.87
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "orient the chili by pinching the tapered body near the middle",
|
| 18 |
+
"confidence": 0.79
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain edible flesh and seeds",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"support cutting and food handling",
|
| 25 |
+
"provide overall shape",
|
| 26 |
+
"protect interior contents"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "The main chili body is a medium-sized tapered pod with light to medium green skin, a smooth slightly glossy surface, and a broader top narrowing to a pointed tip.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
+
"confidence": 0.9935659766197205,
|
| 33 |
+
"position": [
|
| 34 |
+
0.042659656843170524,
|
| 35 |
+
-0.033467558678239584,
|
| 36 |
+
0.08190403610933572
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.1964627991941199,
|
| 40 |
+
"xyz": [
|
| 41 |
+
-0.9554215313219339,
|
| 42 |
+
0.01327288929958631,
|
| 43 |
+
0.21999067350436283
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_2": {
|
| 48 |
+
"confidence": 0.9930825233459473,
|
| 49 |
+
"position": [
|
| 50 |
+
0.04251020937226713,
|
| 51 |
+
-0.02273054188117385,
|
| 52 |
+
0.08918294042814523
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.23022214638523988,
|
| 56 |
+
"xyz": [
|
| 57 |
+
-0.07183917475026458,
|
| 58 |
+
-0.967720625050413,
|
| 59 |
+
-0.0731689014336838
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_3": {
|
| 64 |
+
"confidence": 0.9930800795555115,
|
| 65 |
+
"position": [
|
| 66 |
+
0.04037600173614919,
|
| 67 |
+
-0.04287387942895293,
|
| 68 |
+
0.0809098455356434
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.18605657197088574,
|
| 72 |
+
"xyz": [
|
| 73 |
+
-0.9465780337888452,
|
| 74 |
+
0.11676559019311072,
|
| 75 |
+
0.23609060744074734
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_5": {
|
| 80 |
+
"confidence": 0.9926846027374268,
|
| 81 |
+
"position": [
|
| 82 |
+
0.03086946508847177,
|
| 83 |
+
-0.007233909796923399,
|
| 84 |
+
0.09424010396469384
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.1510808513782026,
|
| 88 |
+
"xyz": [
|
| 89 |
+
0.03593027516754036,
|
| 90 |
+
-0.9858647526966197,
|
| 91 |
+
-0.06288307454040831
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_6": {
|
| 96 |
+
"confidence": 0.9925772547721863,
|
| 97 |
+
"position": [
|
| 98 |
+
0.04397067963145673,
|
| 99 |
+
-0.006071923766285181,
|
| 100 |
+
0.08678960532415658
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.22894285712590626,
|
| 104 |
+
"xyz": [
|
| 105 |
+
-0.016114579469304252,
|
| 106 |
+
-0.9732826360039669,
|
| 107 |
+
-0.006811677673211102
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_7": {
|
| 112 |
+
"confidence": 0.9925685524940491,
|
| 113 |
+
"position": [
|
| 114 |
+
0.02321010804735124,
|
| 115 |
+
-0.02809572359547019,
|
| 116 |
+
0.09417932212818414
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.13187014806241426,
|
| 120 |
+
"xyz": [
|
| 121 |
+
-0.060244252636460396,
|
| 122 |
+
-0.9833522411435496,
|
| 123 |
+
-0.10954115168387209
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_8": {
|
| 128 |
+
"confidence": 0.9925522804260254,
|
| 129 |
+
"position": [
|
| 130 |
+
0.021209191298112273,
|
| 131 |
+
-0.016298587899655104,
|
| 132 |
+
0.09604628116358072
|
| 133 |
+
],
|
| 134 |
+
"orientation": {
|
| 135 |
+
"w": 0.11024664020987837,
|
| 136 |
+
"xyz": [
|
| 137 |
+
-0.02670935610061055,
|
| 138 |
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-0.9905257561686157,
|
| 139 |
+
-0.07740164717702919
|
| 140 |
+
]
|
| 141 |
+
}
|
| 142 |
+
},
|
| 143 |
+
"grasp_9": {
|
| 144 |
+
"confidence": 0.9925425052642822,
|
| 145 |
+
"position": [
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|
dataset/food/ingredients/dc50c054d27a5e39b9ef8d618765ba63/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:dfad1510be7362ce6ee773d933d9140bda5c98132b5cf9aa99226c7a8f7d036c
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| 3 |
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size 3779224
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