Add asset food/ingredients/f7f79824002d5373a48513d30cfb63bd
Browse files
.gitattributes
CHANGED
|
@@ -6846,3 +6846,4 @@ dataset/food/ingredients/ee92ad39d38b5ef5ab11794b91060fc2/affordance/mesh_part_s
|
|
| 6846 |
dataset/food/ingredients/e7c53cd4d7cf50d9a393032273a6618a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6847 |
dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6848 |
dataset/food/ingredients/f706110178005ce193462e85db2f4256/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 6846 |
dataset/food/ingredients/e7c53cd4d7cf50d9a393032273a6618a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6847 |
dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6848 |
dataset/food/ingredients/f706110178005ce193462e85db2f4256/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6849 |
+
dataset/food/ingredients/f7f79824002d5373a48513d30cfb63bd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/food/ingredients/f7f79824002d5373a48513d30cfb63bd/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,382 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "body of chili",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the chili body to pick up and move the pepper",
|
| 10 |
+
"confidence": 0.92
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the chili body to stabilize it during inspection or placement",
|
| 14 |
+
"confidence": 0.87
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pinch the curved body to reorient the pepper",
|
| 18 |
+
"confidence": 0.79
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"contain edible flesh",
|
| 24 |
+
"support handling",
|
| 25 |
+
"provide overall structure",
|
| 26 |
+
"indicate curved orientation"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large pale green chili body with smooth slightly glossy food skin, fleshy firm texture, pronounced ribbed folds, and a strongly curved tapered shape forming most of the object.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_1": {
|
| 32 |
+
"confidence": 0.9795724749565125,
|
| 33 |
+
"position": [
|
| 34 |
+
0.1203227078076452,
|
| 35 |
+
0.030432609375566244,
|
| 36 |
+
-0.00792178184929071
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.7394953631080345,
|
| 40 |
+
"xyz": [
|
| 41 |
+
0.07312366252427291,
|
| 42 |
+
-0.6690165948139631,
|
| 43 |
+
0.014708289645029862
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_2": {
|
| 48 |
+
"confidence": 0.9795432686805725,
|
| 49 |
+
"position": [
|
| 50 |
+
0.11443260661326349,
|
| 51 |
+
0.005313060566550121,
|
| 52 |
+
-0.03140789781900821
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.09064406035982044,
|
| 56 |
+
"xyz": [
|
| 57 |
+
-0.5893622898785259,
|
| 58 |
+
0.004716187359396828,
|
| 59 |
+
0.8027537001891779
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_3": {
|
| 64 |
+
"confidence": 0.9793931245803833,
|
| 65 |
+
"position": [
|
| 66 |
+
0.10983788571320474,
|
| 67 |
+
0.05236056772992015,
|
| 68 |
+
-0.021144175429071765
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.7770035399859561,
|
| 72 |
+
"xyz": [
|
| 73 |
+
0.1525258410153844,
|
| 74 |
+
-0.6051429697820602,
|
| 75 |
+
0.08248243931402328
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_4": {
|
| 80 |
+
"confidence": 0.9792693257331848,
|
| 81 |
+
"position": [
|
| 82 |
+
0.10426921001635492,
|
| 83 |
+
0.06892770109698176,
|
| 84 |
+
-0.01016660546156345
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.13208475176904816,
|
| 88 |
+
"xyz": [
|
| 89 |
+
0.6367069886229337,
|
| 90 |
+
0.20726668920420366,
|
| 91 |
+
-0.7308887388208635
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_5": {
|
| 96 |
+
"confidence": 0.9791070222854614,
|
| 97 |
+
"position": [
|
| 98 |
+
0.10650396696291864,
|
| 99 |
+
0.06744488654658198,
|
| 100 |
+
-0.021945867214526515
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.7732851538143591,
|
| 104 |
+
"xyz": [
|
| 105 |
+
0.15933108537948734,
|
| 106 |
+
-0.5984490555980261,
|
| 107 |
+
0.1360235419915572
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_6": {
|
| 112 |
+
"confidence": 0.9787136912345886,
|
| 113 |
+
"position": [
|
| 114 |
+
0.09642920247279108,
|
| 115 |
+
0.07790840743109584,
|
| 116 |
+
0.033508057247672696
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.24023230523511524,
|
| 120 |
+
"xyz": [
|
| 121 |
+
0.7993344304214475,
|
| 122 |
+
0.14815029752626918,
|
| 123 |
+
-0.5304756330003486
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_7": {
|
| 128 |
+
"confidence": 0.9785601496696472,
|
| 129 |
+
"position": [
|
| 130 |
+
0.11224610707722604,
|
| 131 |
+
0.048922072630375624,
|
| 132 |
+
0.01005293662456097
|
| 133 |
+
],
|
| 134 |
+
"orientation": {
|
| 135 |
+
"w": 0.14088365207009318,
|
| 136 |
+
"xyz": [
|
| 137 |
+
0.7361289939180418,
|
| 138 |
+
0.08957240150100598,
|
| 139 |
+
-0.6559288725021541
|
| 140 |
+
]
|
| 141 |
+
}
|
| 142 |
+
},
|
| 143 |
+
"grasp_8": {
|
| 144 |
+
"confidence": 0.978469729423523,
|
| 145 |
+
"position": [
|
| 146 |
+
0.08869097731076181,
|
| 147 |
+
0.08733146218582988,
|
| 148 |
+
-0.019293460522021633
|
| 149 |
+
],
|
| 150 |
+
"orientation": {
|
| 151 |
+
"w": 0.746919342933468,
|
| 152 |
+
"xyz": [
|
| 153 |
+
0.23356266389598776,
|
| 154 |
+
-0.5806060578008496,
|
| 155 |
+
0.2246254278362158
|
| 156 |
+
]
|
| 157 |
+
}
|
| 158 |
+
},
|
| 159 |
+
"grasp_10": {
|
| 160 |
+
"confidence": 0.9784103035926819,
|
| 161 |
+
"position": [
|
| 162 |
+
0.11762447259388864,
|
| 163 |
+
-0.005196095909923315,
|
| 164 |
+
-0.005996067069645505
|
| 165 |
+
],
|
| 166 |
+
"orientation": {
|
| 167 |
+
"w": 0.07471608757482276,
|
| 168 |
+
"xyz": [
|
| 169 |
+
-0.6827742063339973,
|
| 170 |
+
0.03523588547964118,
|
| 171 |
+
0.7259444343728774
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
},
|
| 175 |
+
"grasp_11": {
|
| 176 |
+
"confidence": 0.9783748984336853,
|
| 177 |
+
"position": [
|
| 178 |
+
0.10068872175179422,
|
| 179 |
+
0.07692208467051387,
|
| 180 |
+
0.003186693887982983
|
| 181 |
+
],
|
| 182 |
+
"orientation": {
|
| 183 |
+
"w": 0.6755036836964767,
|
| 184 |
+
"xyz": [
|
| 185 |
+
0.20409116716730577,
|
| 186 |
+
-0.690412093664028,
|
| 187 |
+
0.15928813427004365
|
| 188 |
+
]
|
| 189 |
+
}
|
| 190 |
+
},
|
| 191 |
+
"grasp_12": {
|
| 192 |
+
"confidence": 0.9782724380493164,
|
| 193 |
+
"position": [
|
| 194 |
+
0.09751966944895685,
|
| 195 |
+
0.07881977735087276,
|
| 196 |
+
0.0132790082207066
|
| 197 |
+
],
|
| 198 |
+
"orientation": {
|
| 199 |
+
"w": 0.2287902468351767,
|
| 200 |
+
"xyz": [
|
| 201 |
+
0.7352095151052195,
|
| 202 |
+
0.1672423406391893,
|
| 203 |
+
-0.6157531902876119
|
| 204 |
+
]
|
| 205 |
+
}
|
| 206 |
+
},
|
| 207 |
+
"grasp_13": {
|
| 208 |
+
"confidence": 0.9780499339103699,
|
| 209 |
+
"position": [
|
| 210 |
+
0.0837873702403158,
|
| 211 |
+
0.10055935708805919,
|
| 212 |
+
-0.01123297539743362
|
| 213 |
+
],
|
| 214 |
+
"orientation": {
|
| 215 |
+
"w": 0.23028641108996828,
|
| 216 |
+
"xyz": [
|
| 217 |
+
0.5775664331873427,
|
| 218 |
+
0.33623140999543666,
|
| 219 |
+
-0.7073426489722173
|
| 220 |
+
]
|
| 221 |
+
}
|
| 222 |
+
},
|
| 223 |
+
"grasp_14": {
|
| 224 |
+
"confidence": 0.9779701232910156,
|
| 225 |
+
"position": [
|
| 226 |
+
0.08896376541815698,
|
| 227 |
+
0.09336462197825313,
|
| 228 |
+
-0.015891834620560985
|
| 229 |
+
],
|
| 230 |
+
"orientation": {
|
| 231 |
+
"w": 0.733485876292648,
|
| 232 |
+
"xyz": [
|
| 233 |
+
0.2566193141961475,
|
| 234 |
+
-0.5928056863583668,
|
| 235 |
+
0.21148620541749255
|
| 236 |
+
]
|
| 237 |
+
}
|
| 238 |
+
},
|
| 239 |
+
"grasp_15": {
|
| 240 |
+
"confidence": 0.9777361750602722,
|
| 241 |
+
"position": [
|
| 242 |
+
0.10143941990099847,
|
| 243 |
+
0.06937451986595988,
|
| 244 |
+
0.015118333052669186
|
| 245 |
+
],
|
| 246 |
+
"orientation": {
|
| 247 |
+
"w": 0.18818011018354594,
|
| 248 |
+
"xyz": [
|
| 249 |
+
0.7395017842051389,
|
| 250 |
+
0.1781187457311203,
|
| 251 |
+
-0.6212882340008519
|
| 252 |
+
]
|
| 253 |
+
}
|
| 254 |
+
},
|
| 255 |
+
"grasp_16": {
|
| 256 |
+
"confidence": 0.9777331352233887,
|
| 257 |
+
"position": [
|
| 258 |
+
0.10113420686684549,
|
| 259 |
+
0.06764293042942882,
|
| 260 |
+
0.020641418646846432
|
| 261 |
+
],
|
| 262 |
+
"orientation": {
|
| 263 |
+
"w": 0.16770392785903715,
|
| 264 |
+
"xyz": [
|
| 265 |
+
0.7673524648019122,
|
| 266 |
+
0.14677347043717526,
|
| 267 |
+
-0.6012513082887289
|
| 268 |
+
]
|
| 269 |
+
}
|
| 270 |
+
},
|
| 271 |
+
"grasp_17": {
|
| 272 |
+
"confidence": 0.9776968955993652,
|
| 273 |
+
"position": [
|
| 274 |
+
0.09967261902056634,
|
| 275 |
+
0.08230680553242564,
|
| 276 |
+
0.019936169039283413
|
| 277 |
+
],
|
| 278 |
+
"orientation": {
|
| 279 |
+
"w": 0.17611009833481372,
|
| 280 |
+
"xyz": [
|
| 281 |
+
0.7407470922105467,
|
| 282 |
+
0.21889709605153818,
|
| 283 |
+
-0.6102155684562021
|
| 284 |
+
]
|
| 285 |
+
}
|
| 286 |
+
},
|
| 287 |
+
"grasp_18": {
|
| 288 |
+
"confidence": 0.9776620268821716,
|
| 289 |
+
"position": [
|
| 290 |
+
0.10862949094735086,
|
| 291 |
+
0.06409135414287448,
|
| 292 |
+
0.007088911726896185
|
| 293 |
+
],
|
| 294 |
+
"orientation": {
|
| 295 |
+
"w": 0.6595251754259079,
|
| 296 |
+
"xyz": [
|
| 297 |
+
0.13276705268731812,
|
| 298 |
+
-0.7185238392605929,
|
| 299 |
+
0.17641696379420627
|
| 300 |
+
]
|
| 301 |
+
}
|
| 302 |
+
}
|
| 303 |
+
}
|
| 304 |
+
},
|
| 305 |
+
{
|
| 306 |
+
"part_name": "stem of chili",
|
| 307 |
+
"mask_color": "Green",
|
| 308 |
+
"graspable": true,
|
| 309 |
+
"grasp_scenarios": [
|
| 310 |
+
{
|
| 311 |
+
"scenario": "delicately grasp the stem to orient the chili",
|
| 312 |
+
"confidence": 0.43
|
| 313 |
+
},
|
| 314 |
+
{
|
| 315 |
+
"scenario": "lightly hold the stem while transferring the pepper short distances",
|
| 316 |
+
"confidence": 0.31
|
| 317 |
+
}
|
| 318 |
+
],
|
| 319 |
+
"functional_labels": [
|
| 320 |
+
"connect to plant",
|
| 321 |
+
"indicate top end",
|
| 322 |
+
"assist delicate handling",
|
| 323 |
+
"provide attachment point"
|
| 324 |
+
],
|
| 325 |
+
"semantic_description": "Small curved green stem with a matte slightly rough fibrous texture, narrow cylindrical shape, and a short protruding position at the top end of the chili.",
|
| 326 |
+
"id": 1,
|
| 327 |
+
"grasp_group": {
|
| 328 |
+
"grasp_20": {
|
| 329 |
+
"confidence": 0.3198055028915405,
|
| 330 |
+
"position": [
|
| 331 |
+
-0.06743795820511878,
|
| 332 |
+
0.12312661437317729,
|
| 333 |
+
0.042666798930440564
|
| 334 |
+
],
|
| 335 |
+
"orientation": {
|
| 336 |
+
"w": 0.048521372131438395,
|
| 337 |
+
"xyz": [
|
| 338 |
+
-0.48825673377710926,
|
| 339 |
+
0.6829753082714722,
|
| 340 |
+
-0.5411060586052229
|
| 341 |
+
]
|
| 342 |
+
}
|
| 343 |
+
},
|
| 344 |
+
"grasp_26": {
|
| 345 |
+
"confidence": 0.849720299243927,
|
| 346 |
+
"position": [
|
| 347 |
+
-0.01469972007907927,
|
| 348 |
+
0.1406015413813293,
|
| 349 |
+
0.051339725505386014
|
| 350 |
+
],
|
| 351 |
+
"orientation": {
|
| 352 |
+
"w": 0.39166866920817317,
|
| 353 |
+
"xyz": [
|
| 354 |
+
0.6198336345254156,
|
| 355 |
+
0.5935400589587686,
|
| 356 |
+
-0.3318314594533396
|
| 357 |
+
]
|
| 358 |
+
}
|
| 359 |
+
}
|
| 360 |
+
}
|
| 361 |
+
},
|
| 362 |
+
{
|
| 363 |
+
"part_name": "cap of chili",
|
| 364 |
+
"mask_color": "Blue",
|
| 365 |
+
"graspable": false,
|
| 366 |
+
"grasp_scenarios": [],
|
| 367 |
+
"functional_labels": [
|
| 368 |
+
"join stem to body",
|
| 369 |
+
"support stem attachment",
|
| 370 |
+
"mark the top of the pepper",
|
| 371 |
+
"transition between parts"
|
| 372 |
+
],
|
| 373 |
+
"semantic_description": "Small blue-mapped pepper cap that appears pale green in RGB, with a smooth slightly matte surface and shallow conical collar shape at the junction between stem and body.",
|
| 374 |
+
"id": 2,
|
| 375 |
+
"grasp_group": {}
|
| 376 |
+
}
|
| 377 |
+
],
|
| 378 |
+
"quality_check": {
|
| 379 |
+
"success": true,
|
| 380 |
+
"message": "YES"
|
| 381 |
+
}
|
| 382 |
+
}
|
dataset/food/ingredients/f7f79824002d5373a48513d30cfb63bd/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2728554d675b0d1bb2b580a9d92f471327b6aa1269149e95eb8b4cca5d281335
|
| 3 |
+
size 3778368
|