Add asset food/ingredients/ad3ea4287eea511f9d9f01435656ba26
Browse files
.gitattributes
CHANGED
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@@ -6812,3 +6812,4 @@ dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/affordance/mesh_part_s
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| 6812 |
dataset/food/ingredients/9e5291cee9ce5c8e8c840d3e6b35b261/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6813 |
dataset/food/ingredients/a63fcb3039d250cb9ab2492a99de7eb1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/ingredients/a765d5abd9b8554ebcc1c2454322dd06/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6812 |
dataset/food/ingredients/9e5291cee9ce5c8e8c840d3e6b35b261/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6813 |
dataset/food/ingredients/a63fcb3039d250cb9ab2492a99de7eb1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6814 |
dataset/food/ingredients/a765d5abd9b8554ebcc1c2454322dd06/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6815 |
+
dataset/food/ingredients/ad3ea4287eea511f9d9f01435656ba26/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/ingredients/ad3ea4287eea511f9d9f01435656ba26/affordance/affordance_annot.json
ADDED
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "tomato body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the tomato body to pick up and move the tomato",
|
| 10 |
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"confidence": 0.94
|
| 11 |
+
},
|
| 12 |
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{
|
| 13 |
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"scenario": "hold the tomato body to stabilize it during inspection or placement",
|
| 14 |
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"confidence": 0.91
|
| 15 |
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}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"main grasp surface",
|
| 19 |
+
"contain edible flesh",
|
| 20 |
+
"support handling",
|
| 21 |
+
"provide bulk structure"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large round green tomato body with glossy smooth food skin, a firm slightly taut texture, and subtle natural surface blemishes, forming nearly the entire fruit below the top crown.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {}
|
| 26 |
+
},
|
| 27 |
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{
|
| 28 |
+
"part_name": "calyx",
|
| 29 |
+
"mask_color": "Green",
|
| 30 |
+
"graspable": true,
|
| 31 |
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"grasp_scenarios": [
|
| 32 |
+
{
|
| 33 |
+
"scenario": "delicately grasp the calyx to orient the tomato without squeezing the body",
|
| 34 |
+
"confidence": 0.33
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
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"scenario": "lightly pinch a calyx lobe to stabilize the tomato during inspection",
|
| 38 |
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"confidence": 0.26
|
| 39 |
+
}
|
| 40 |
+
],
|
| 41 |
+
"functional_labels": [
|
| 42 |
+
"protect top of fruit",
|
| 43 |
+
"connect stem area to fruit",
|
| 44 |
+
"indicate top orientation",
|
| 45 |
+
"provide minor stabilization point"
|
| 46 |
+
],
|
| 47 |
+
"semantic_description": "Star-shaped green leafy calyx with thin pointed lobes, a matte slightly waxy surface, and a firmer plant texture, spread across the top around the stem.",
|
| 48 |
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"id": 1,
|
| 49 |
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"grasp_group": {
|
| 50 |
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"grasp_20": {
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| 51 |
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"confidence": 0.585771918296814,
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| 52 |
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"position": [
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| 54 |
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| 56 |
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],
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| 57 |
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"orientation": {
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| 58 |
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"w": 0.04105601290613217,
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| 59 |
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"xyz": [
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| 61 |
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| 62 |
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| 63 |
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]
|
| 64 |
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}
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| 65 |
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},
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| 66 |
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"grasp_23": {
|
| 67 |
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"confidence": 0.5813167691230774,
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| 68 |
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"position": [
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| 69 |
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| 70 |
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| 71 |
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"orientation": {
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"xyz": [
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},
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"grasp_26": {
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"position": [
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}
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},
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"grasp_31": {
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"orientation": {
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},
|
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"grasp_32": {
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],
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"orientation": {
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]
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}
|
| 146 |
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}
|
| 147 |
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},
|
| 148 |
+
{
|
| 149 |
+
"part_name": "stem of tomato",
|
| 150 |
+
"mask_color": "Blue",
|
| 151 |
+
"graspable": true,
|
| 152 |
+
"grasp_scenarios": [
|
| 153 |
+
{
|
| 154 |
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"scenario": "delicately grasp the stem to orient the tomato",
|
| 155 |
+
"confidence": 0.29
|
| 156 |
+
},
|
| 157 |
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{
|
| 158 |
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"scenario": "lift the tomato by the stem in a careful low-load manipulation",
|
| 159 |
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"confidence": 0.11
|
| 160 |
+
}
|
| 161 |
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],
|
| 162 |
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"functional_labels": [
|
| 163 |
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"connect to vine",
|
| 164 |
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"indicate top orientation",
|
| 165 |
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"support delicate manipulation"
|
| 166 |
+
],
|
| 167 |
+
"semantic_description": "Short cylindrical green stem with a matte plant surface and slightly rough fibrous texture, protruding upright from the center of the calyx at the tomato top.",
|
| 168 |
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"id": 2,
|
| 169 |
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"grasp_group": {
|
| 170 |
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"confidence": 0.39940425753593445,
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],
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"orientation": {
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]
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}
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},
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"grasp_46": {
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"confidence": 0.5898257493972778,
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"position": [
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],
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"orientation": {
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-0.009479550761170685,
|
| 255 |
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|
| 256 |
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|
| 257 |
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"orientation": {
|
| 258 |
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| 260 |
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|
| 261 |
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| 262 |
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|
| 263 |
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|
| 264 |
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|
| 265 |
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|
| 266 |
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|
| 267 |
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|
| 268 |
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],
|
| 269 |
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"quality_check": {
|
| 270 |
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"success": true,
|
| 271 |
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"message": "YES"
|
| 272 |
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|
| 273 |
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}
|
dataset/food/ingredients/ad3ea4287eea511f9d9f01435656ba26/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 sha256:11ef89557384050ba3eab631d7fc4475aa511cad493c8c140f4454c194ee40ae
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| 3 |
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size 3777852
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