Add asset food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9
Browse files
.gitattributes
CHANGED
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@@ -8317,3 +8317,4 @@ dataset/food/fruits/ab5078c936f05cdaa895480068e769d5/affordance/mesh_part_seg.gl
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| 8317 |
dataset/food/fruits/ae283eef0c1f5ca0b2af059fc073a3eb/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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| 8317 |
dataset/food/fruits/ae283eef0c1f5ca0b2af059fc073a3eb/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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dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,438 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "stem of strawberry",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "delicately grasp the stem to orient the strawberry",
|
| 10 |
+
"confidence": 0.33
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "lightly hold the stem while placing or inspecting the fruit",
|
| 14 |
+
"confidence": 0.24
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "lift the strawberry by the stem",
|
| 18 |
+
"confidence": 0.11
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"connect to plant",
|
| 23 |
+
"indicate top orientation",
|
| 24 |
+
"provide a delicate pinch point"
|
| 25 |
+
],
|
| 26 |
+
"semantic_description": "Small thin greenish-brown stem with a matte slightly rough plant texture, cylindrical shape, and short protruding position at the top center above the leafy cap.",
|
| 27 |
+
"id": 0,
|
| 28 |
+
"grasp_group": {
|
| 29 |
+
"grasp_0": {
|
| 30 |
+
"confidence": 0.920896053314209,
|
| 31 |
+
"position": [
|
| 32 |
+
-0.027546366909518838,
|
| 33 |
+
-0.10330865066498518,
|
| 34 |
+
0.05601727655448485
|
| 35 |
+
],
|
| 36 |
+
"orientation": {
|
| 37 |
+
"w": 0.4977645936911394,
|
| 38 |
+
"xyz": [
|
| 39 |
+
-0.8580512161256374,
|
| 40 |
+
0.025105175319134254,
|
| 41 |
+
-0.12388805408515133
|
| 42 |
+
]
|
| 43 |
+
}
|
| 44 |
+
}
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
{
|
| 48 |
+
"part_name": "strawberry body",
|
| 49 |
+
"mask_color": "Green",
|
| 50 |
+
"graspable": true,
|
| 51 |
+
"grasp_scenarios": [
|
| 52 |
+
{
|
| 53 |
+
"scenario": "grasp the strawberry body to pick up the fruit",
|
| 54 |
+
"confidence": 0.93
|
| 55 |
+
},
|
| 56 |
+
{
|
| 57 |
+
"scenario": "hold the body to stabilize the fruit during inspection or packing",
|
| 58 |
+
"confidence": 0.9
|
| 59 |
+
}
|
| 60 |
+
],
|
| 61 |
+
"functional_labels": [
|
| 62 |
+
"main grasp surface",
|
| 63 |
+
"contain edible flesh",
|
| 64 |
+
"support handling",
|
| 65 |
+
"provide fruit mass"
|
| 66 |
+
],
|
| 67 |
+
"semantic_description": "Large heart-like red fruit body with glossy smooth food skin, fine seed-studded texture, and a plump tapered shape forming nearly the entire strawberry.",
|
| 68 |
+
"id": 1,
|
| 69 |
+
"grasp_group": {
|
| 70 |
+
"grasp_1": {
|
| 71 |
+
"confidence": 0.9820675849914551,
|
| 72 |
+
"position": [
|
| 73 |
+
0.034478401532396674,
|
| 74 |
+
-0.10566193889826536,
|
| 75 |
+
0.00301674562797416
|
| 76 |
+
],
|
| 77 |
+
"orientation": {
|
| 78 |
+
"w": 0.696322242024123,
|
| 79 |
+
"xyz": [
|
| 80 |
+
-0.6799472121950765,
|
| 81 |
+
-0.22978585042234456,
|
| 82 |
+
0.0023636489422108123
|
| 83 |
+
]
|
| 84 |
+
}
|
| 85 |
+
},
|
| 86 |
+
"grasp_2": {
|
| 87 |
+
"confidence": 0.9813738465309143,
|
| 88 |
+
"position": [
|
| 89 |
+
0.008427726803347468,
|
| 90 |
+
-0.09940422605723143,
|
| 91 |
+
0.03832606664218474
|
| 92 |
+
],
|
| 93 |
+
"orientation": {
|
| 94 |
+
"w": 0.4413028113503687,
|
| 95 |
+
"xyz": [
|
| 96 |
+
-0.5608447058723137,
|
| 97 |
+
-0.5982258295607847,
|
| 98 |
+
-0.3644597391147207
|
| 99 |
+
]
|
| 100 |
+
}
|
| 101 |
+
},
|
| 102 |
+
"grasp_3": {
|
| 103 |
+
"confidence": 0.9803121089935303,
|
| 104 |
+
"position": [
|
| 105 |
+
0.058183023473247886,
|
| 106 |
+
0.001728275790810585,
|
| 107 |
+
0.08958224645175505
|
| 108 |
+
],
|
| 109 |
+
"orientation": {
|
| 110 |
+
"w": 0.28959439098530604,
|
| 111 |
+
"xyz": [
|
| 112 |
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-0.1217851005015217,
|
| 113 |
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-0.9470217099172695,
|
| 114 |
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0.06673349197407956
|
| 115 |
+
]
|
| 116 |
+
}
|
| 117 |
+
},
|
| 118 |
+
"grasp_4": {
|
| 119 |
+
"confidence": 0.9799652099609375,
|
| 120 |
+
"position": [
|
| 121 |
+
0.09293154045008123,
|
| 122 |
+
0.018969553522765636,
|
| 123 |
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0.04697781121649314
|
| 124 |
+
],
|
| 125 |
+
"orientation": {
|
| 126 |
+
"w": 0.5152429236215645,
|
| 127 |
+
"xyz": [
|
| 128 |
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-0.03146141615621328,
|
| 129 |
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-0.8419600466466779,
|
| 130 |
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0.15696556565715983
|
| 131 |
+
]
|
| 132 |
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}
|
| 133 |
+
},
|
| 134 |
+
"grasp_5": {
|
| 135 |
+
"confidence": 0.9798374772071838,
|
| 136 |
+
"position": [
|
| 137 |
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0.09670622809790075,
|
| 138 |
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0.02366798836737871,
|
| 139 |
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-0.018892164618591778
|
| 140 |
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],
|
| 141 |
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"orientation": {
|
| 142 |
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"w": 0.7505677211079284,
|
| 143 |
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"xyz": [
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| 144 |
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0.01320792845514991,
|
| 145 |
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-0.6339372450536387,
|
| 146 |
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|
| 147 |
+
]
|
| 148 |
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}
|
| 149 |
+
},
|
| 150 |
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"grasp_6": {
|
| 151 |
+
"confidence": 0.9797767996788025,
|
| 152 |
+
"position": [
|
| 153 |
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0.036576097598299384,
|
| 154 |
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-0.013852488249540329,
|
| 155 |
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-0.09926919946155977
|
| 156 |
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],
|
| 157 |
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"orientation": {
|
| 158 |
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"w": 0.974242260399956,
|
| 159 |
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"xyz": [
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| 160 |
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-0.07059300695455378,
|
| 161 |
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-0.1499766915661126,
|
| 162 |
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0.152890933043074
|
| 163 |
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]
|
| 164 |
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}
|
| 165 |
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},
|
| 166 |
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"grasp_7": {
|
| 167 |
+
"confidence": 0.979649543762207,
|
| 168 |
+
"position": [
|
| 169 |
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0.09065415128134191,
|
| 170 |
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0.04650352615863085,
|
| 171 |
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0.010897463842411526
|
| 172 |
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],
|
| 173 |
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"orientation": {
|
| 174 |
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"w": 0.6114584754628287,
|
| 175 |
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"xyz": [
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| 176 |
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| 177 |
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-0.7324611078919122,
|
| 178 |
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|
| 179 |
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]
|
| 180 |
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},
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{
|
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| 394 |
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|
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"quality_check": {
|
| 435 |
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"success": true,
|
| 436 |
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"message": "YES"
|
| 437 |
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}
|
| 438 |
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}
|
dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:60ffe803cc90733ace3c57c153b9866d7cc2256ed392291f5e99cd727c7e902a
|
| 3 |
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size 84170728
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