Add asset food/ingredients/5ae5638c5df1597abf2106181222995a
Browse files
.gitattributes
CHANGED
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@@ -6788,4 +6788,5 @@ dataset/food/ingredients/45d4fda4ddd75c9fb8eca992e39f823a/affordance/mesh_part_s
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| 6788 |
dataset/food/ingredients/4d0ccd2d65f9534f86ca60fef24f3f08/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6789 |
dataset/food/ingredients/4fd01769190b5f57b43609c69c175401/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6790 |
dataset/food/ingredients/52cf06c048f95a3786cc576f38d7449e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6791 |
-
dataset/food/ingredients/
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| 6788 |
dataset/food/ingredients/4d0ccd2d65f9534f86ca60fef24f3f08/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6789 |
dataset/food/ingredients/4fd01769190b5f57b43609c69c175401/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6790 |
dataset/food/ingredients/52cf06c048f95a3786cc576f38d7449e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6791 |
+
dataset/food/ingredients/55a486b9890b5dca9837dbc8282fcb28/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6792 |
+
dataset/food/ingredients/5ae5638c5df1597abf2106181222995a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/ingredients/5ae5638c5df1597abf2106181222995a/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,375 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "onion bulb",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the bulb around the sides to pick up the onion",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the bulb to stabilize the onion during cutting or inspection",
|
| 14 |
+
"confidence": 0.93
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"main grasp surface",
|
| 19 |
+
"contain edible layers",
|
| 20 |
+
"provide bulk for handling",
|
| 21 |
+
"support cutting and peeling"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large round white onion body with papery food skin, a matte to slightly satiny finish, smooth fine-grained texture, and a bulbous shape forming nearly the entire object.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_0": {
|
| 27 |
+
"confidence": 0.9036975502967834,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.0749437038321048,
|
| 30 |
+
0.06458282706444152,
|
| 31 |
+
0.07571925688534975
|
| 32 |
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],
|
| 33 |
+
"orientation": {
|
| 34 |
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"w": 0.5514799121761101,
|
| 35 |
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"xyz": [
|
| 36 |
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0.7064226157696751,
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| 37 |
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0.38403817401040197,
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| 38 |
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|
| 39 |
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]
|
| 40 |
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}
|
| 41 |
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},
|
| 42 |
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"grasp_1": {
|
| 43 |
+
"confidence": 0.9008549451828003,
|
| 44 |
+
"position": [
|
| 45 |
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-0.05600734171457589,
|
| 46 |
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0.07655798134510405,
|
| 47 |
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0.08087639231234789
|
| 48 |
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],
|
| 49 |
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"orientation": {
|
| 50 |
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"w": 0.5483841856405625,
|
| 51 |
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"xyz": [
|
| 52 |
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| 53 |
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0.3083012937653188,
|
| 54 |
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0.14890734740700085
|
| 55 |
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]
|
| 56 |
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}
|
| 57 |
+
},
|
| 58 |
+
"grasp_4": {
|
| 59 |
+
"confidence": 0.8983782529830933,
|
| 60 |
+
"position": [
|
| 61 |
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-0.07874423009343445,
|
| 62 |
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0.05342471462790854,
|
| 63 |
+
0.07847792375832796
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
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"w": 0.5263012875227249,
|
| 67 |
+
"xyz": [
|
| 68 |
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|
| 69 |
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0.45517974827425256,
|
| 70 |
+
0.23164897122827438
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_6": {
|
| 75 |
+
"confidence": 0.8972561955451965,
|
| 76 |
+
"position": [
|
| 77 |
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-0.07873802375979722,
|
| 78 |
+
0.05559754607384093,
|
| 79 |
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0.07772087026387453
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.5383555529507229,
|
| 83 |
+
"xyz": [
|
| 84 |
+
0.6735559377972503,
|
| 85 |
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0.45498098892398786,
|
| 86 |
+
0.2224589782025844
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_8": {
|
| 91 |
+
"confidence": 0.8970046639442444,
|
| 92 |
+
"position": [
|
| 93 |
+
-0.07911892724223435,
|
| 94 |
+
0.06368786332313903,
|
| 95 |
+
0.06373907346278429
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
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"w": 0.30018861236419164,
|
| 99 |
+
"xyz": [
|
| 100 |
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-0.2896751785032365,
|
| 101 |
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|
| 102 |
+
-0.5707064943391145
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_9": {
|
| 107 |
+
"confidence": 0.8960058093070984,
|
| 108 |
+
"position": [
|
| 109 |
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-0.06887674075551331,
|
| 110 |
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0.06904605266754515,
|
| 111 |
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0.07865711022168398
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
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"w": 0.5509787632014739,
|
| 115 |
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"xyz": [
|
| 116 |
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|
| 117 |
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0.40616261540881715,
|
| 118 |
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|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"grasp_15": {
|
| 123 |
+
"confidence": 0.892907440662384,
|
| 124 |
+
"position": [
|
| 125 |
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-0.06477404874749482,
|
| 126 |
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0.06912316617672332,
|
| 127 |
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0.08105630148202181
|
| 128 |
+
],
|
| 129 |
+
"orientation": {
|
| 130 |
+
"w": 0.19713998300140925,
|
| 131 |
+
"xyz": [
|
| 132 |
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-0.3320206215602692,
|
| 133 |
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0.7637315985230252,
|
| 134 |
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-0.5173124581704968
|
| 135 |
+
]
|
| 136 |
+
}
|
| 137 |
+
},
|
| 138 |
+
"grasp_17": {
|
| 139 |
+
"confidence": 0.8927528262138367,
|
| 140 |
+
"position": [
|
| 141 |
+
-0.06537077319808304,
|
| 142 |
+
0.06128730488126166,
|
| 143 |
+
0.09424011874943972
|
| 144 |
+
],
|
| 145 |
+
"orientation": {
|
| 146 |
+
"w": 0.19679766282250735,
|
| 147 |
+
"xyz": [
|
| 148 |
+
-0.36441765328884035,
|
| 149 |
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0.7787959329729863,
|
| 150 |
+
-0.471112883143508
|
| 151 |
+
]
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"grasp_18": {
|
| 155 |
+
"confidence": 0.8927279114723206,
|
| 156 |
+
"position": [
|
| 157 |
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-0.06674384069629014,
|
| 158 |
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0.06545274195377715,
|
| 159 |
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0.08633788395673037
|
| 160 |
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],
|
| 161 |
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"orientation": {
|
| 162 |
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"w": 0.5156860393327173,
|
| 163 |
+
"xyz": [
|
| 164 |
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0.7427598404692947,
|
| 165 |
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0.3862897933433538,
|
| 166 |
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0.18208768157706917
|
| 167 |
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]
|
| 168 |
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}
|
| 169 |
+
}
|
| 170 |
+
}
|
| 171 |
+
},
|
| 172 |
+
{
|
| 173 |
+
"part_name": "stem of onion",
|
| 174 |
+
"mask_color": "Green",
|
| 175 |
+
"graspable": true,
|
| 176 |
+
"grasp_scenarios": [
|
| 177 |
+
{
|
| 178 |
+
"scenario": "delicately grasp the dried stem to orient the onion",
|
| 179 |
+
"confidence": 0.34
|
| 180 |
+
},
|
| 181 |
+
{
|
| 182 |
+
"scenario": "briefly pull or reposition the onion by the stem",
|
| 183 |
+
"confidence": 0.21
|
| 184 |
+
}
|
| 185 |
+
],
|
| 186 |
+
"functional_labels": [
|
| 187 |
+
"indicate top orientation",
|
| 188 |
+
"connect former shoot end",
|
| 189 |
+
"provide a small pulling point"
|
| 190 |
+
],
|
| 191 |
+
"semantic_description": "Small dried tan-orange stem tuft at the top with a hard fibrous texture, irregular pointed shape, and slightly rough matte surface.",
|
| 192 |
+
"id": 1,
|
| 193 |
+
"grasp_group": {
|
| 194 |
+
"grasp_20": {
|
| 195 |
+
"confidence": 0.6990351676940918,
|
| 196 |
+
"position": [
|
| 197 |
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0.027327446965500712,
|
| 198 |
+
-0.0720123625069391,
|
| 199 |
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0.1232817666605115
|
| 200 |
+
],
|
| 201 |
+
"orientation": {
|
| 202 |
+
"w": 0.057344270042240644,
|
| 203 |
+
"xyz": [
|
| 204 |
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0.1972433464096037,
|
| 205 |
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-0.8939906890582358,
|
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|
dataset/food/ingredients/5ae5638c5df1597abf2106181222995a/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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| 2 |
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oid sha256:a494d3ec232c692866a3e385f1d2946c94e9b963a00a82ac4a770f01147457ab
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| 3 |
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size 759428
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