Add asset food/fruits/bbe9f0bc72aa5a148241beea0a8ab026
Browse files
.gitattributes
CHANGED
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@@ -8318,3 +8318,4 @@ dataset/food/fruits/ae283eef0c1f5ca0b2af059fc073a3eb/affordance/mesh_part_seg.gl
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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 |
dataset/food/fruits/b87c509ffae15b3b92efcc8262bf2a1f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8320 |
dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/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 |
dataset/food/fruits/b87c509ffae15b3b92efcc8262bf2a1f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8320 |
dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8321 |
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dataset/food/fruits/bbe9f0bc72aa5a148241beea0a8ab026/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/fruits/bbe9f0bc72aa5a148241beea0a8ab026/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,224 @@
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| 1 |
+
{
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| 2 |
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"affordances": [
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| 3 |
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{
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| 4 |
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"part_name": "stem of apple",
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| 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": "delicately grasp the stem to orient the apple",
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| 10 |
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"confidence": 0.3
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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": "lightly pinch the stem during harvesting or inspection",
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| 14 |
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"confidence": 0.22
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| 15 |
+
},
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| 16 |
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{
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| 17 |
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"scenario": "lift the apple by the stem",
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| 18 |
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"confidence": 0.1
|
| 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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"connect to branch",
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| 23 |
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"indicate top orientation",
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| 24 |
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"support hanging while growing",
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| 25 |
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"provide a delicate manipulation point"
|
| 26 |
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],
|
| 27 |
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"semantic_description": "Small slender brown woody stem with a hard slightly rough fibrous texture, matte finish, and curved cylindrical shape protruding from the top dimple of the apple.",
|
| 28 |
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"id": 0,
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| 29 |
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"grasp_group": {
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| 30 |
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"grasp_5": {
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| 31 |
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"confidence": 0.7830019593238831,
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| 32 |
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"position": [
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],
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"orientation": {
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"w": 0.05038293299196568,
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"xyz": [
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| 42 |
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]
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| 44 |
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}
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| 45 |
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},
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| 46 |
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"grasp_8": {
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| 47 |
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"confidence": 0.7188144326210022,
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| 48 |
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"position": [
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| 49 |
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| 50 |
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| 51 |
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| 52 |
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],
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| 53 |
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"orientation": {
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| 54 |
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"w": 0.14763688668071084,
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| 55 |
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"xyz": [
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| 58 |
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| 59 |
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]
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| 60 |
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}
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| 61 |
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},
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| 62 |
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"grasp_9": {
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| 63 |
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"confidence": 0.718692421913147,
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| 64 |
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"position": [
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],
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"orientation": {
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"w": 0.21763214852763083,
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| 76 |
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}
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| 77 |
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},
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| 78 |
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"grasp_11": {
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"confidence": 0.6739752292633057,
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"position": [
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"orientation": {
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"xyz": [
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]
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}
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},
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"grasp_13": {
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"confidence": 0.7675608396530151,
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"position": [
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],
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"orientation": {
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"w": 0.09949475275162216,
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"xyz": [
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"grasp_14": {
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"confidence": 0.7644253373146057,
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],
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"orientation": {
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]
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}
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| 125 |
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},
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| 126 |
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"grasp_16": {
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| 127 |
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"confidence": 0.745184600353241,
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| 128 |
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"position": [
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| 129 |
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],
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"orientation": {
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"w": 0.06064454561181608,
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"xyz": [
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| 139 |
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]
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| 140 |
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}
|
| 141 |
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},
|
| 142 |
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"grasp_18": {
|
| 143 |
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"confidence": 0.73255455493927,
|
| 144 |
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"position": [
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| 145 |
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| 146 |
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|
| 148 |
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],
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| 149 |
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"orientation": {
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| 150 |
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"w": 0.0882507846897981,
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| 151 |
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"xyz": [
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| 152 |
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| 153 |
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|
| 154 |
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|
| 155 |
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]
|
| 156 |
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}
|
| 157 |
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},
|
| 158 |
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"grasp_19": {
|
| 159 |
+
"confidence": 0.7177440524101257,
|
| 160 |
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"position": [
|
| 161 |
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0.03870487282983959,
|
| 162 |
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-0.031449159141629934,
|
| 163 |
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0.15416705061215907
|
| 164 |
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],
|
| 165 |
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"orientation": {
|
| 166 |
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"w": 0.11838449853886578,
|
| 167 |
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"xyz": [
|
| 168 |
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|
| 169 |
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-0.08128159348385966,
|
| 170 |
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0.09184987608599304
|
| 171 |
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]
|
| 172 |
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}
|
| 173 |
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}
|
| 174 |
+
}
|
| 175 |
+
},
|
| 176 |
+
{
|
| 177 |
+
"part_name": "body of apple",
|
| 178 |
+
"mask_color": "Green",
|
| 179 |
+
"graspable": true,
|
| 180 |
+
"grasp_scenarios": [
|
| 181 |
+
{
|
| 182 |
+
"scenario": "grasp the apple body to pick it up",
|
| 183 |
+
"confidence": 0.95
|
| 184 |
+
},
|
| 185 |
+
{
|
| 186 |
+
"scenario": "hold the apple body to reposition or inspect it",
|
| 187 |
+
"confidence": 0.92
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"scenario": "stabilize the apple body during cutting or placement",
|
| 191 |
+
"confidence": 0.83
|
| 192 |
+
}
|
| 193 |
+
],
|
| 194 |
+
"functional_labels": [
|
| 195 |
+
"main grasp surface",
|
| 196 |
+
"contain edible flesh",
|
| 197 |
+
"support eating",
|
| 198 |
+
"provide overall structure",
|
| 199 |
+
"support placement on a surface"
|
| 200 |
+
],
|
| 201 |
+
"semantic_description": "Large round apple body with cream-yellow to pink-red skin, glossy smooth food surface, firm texture, subtle speckling and streaks, forming nearly the entire fruit around the central core.",
|
| 202 |
+
"id": 1,
|
| 203 |
+
"grasp_group": {}
|
| 204 |
+
},
|
| 205 |
+
{
|
| 206 |
+
"part_name": "calyx of apple",
|
| 207 |
+
"mask_color": "Blue",
|
| 208 |
+
"graspable": false,
|
| 209 |
+
"grasp_scenarios": [],
|
| 210 |
+
"functional_labels": [
|
| 211 |
+
"blossom-end feature",
|
| 212 |
+
"indicate bottom orientation",
|
| 213 |
+
"natural surface detail"
|
| 214 |
+
],
|
| 215 |
+
"semantic_description": "Small dark brown dried calyx cluster at the bottom recess of the apple, with a hard rough shriveled texture and irregular petal-like shape set into the base.",
|
| 216 |
+
"id": 2,
|
| 217 |
+
"grasp_group": {}
|
| 218 |
+
}
|
| 219 |
+
],
|
| 220 |
+
"quality_check": {
|
| 221 |
+
"success": true,
|
| 222 |
+
"message": "YES"
|
| 223 |
+
}
|
| 224 |
+
}
|
dataset/food/fruits/bbe9f0bc72aa5a148241beea0a8ab026/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:9c2151de650cef6c8056156b94408ee51cc27e1a1952595700e19a1d9c2fc005
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| 3 |
+
size 3777968
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