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HorizonRobotics
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EmbodiedGenData

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Add asset food/ingredients/43b8971eeddc574aab3c198455811b61

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Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/food/ingredients/43b8971eeddc574aab3c198455811b61/affordance/affordance_annot.json +139 -0
  3. dataset/food/ingredients/43b8971eeddc574aab3c198455811b61/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -6782,3 +6782,4 @@ dataset/food/ingredients/309c952517fc5a97ab31359c3e104cbe/affordance/mesh_part_s
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  dataset/food/ingredients/31e3ede73fe656658616f2ed020e269f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6783
  dataset/food/ingredients/41603c8814f9582290f1766548569b14/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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  dataset/food/ingredients/43b757b2d85051bbaec62e136a506dba/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
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  dataset/food/ingredients/31e3ede73fe656658616f2ed020e269f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6783
  dataset/food/ingredients/41603c8814f9582290f1766548569b14/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6784
  dataset/food/ingredients/43b757b2d85051bbaec62e136a506dba/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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+ dataset/food/ingredients/43b8971eeddc574aab3c198455811b61/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/food/ingredients/43b8971eeddc574aab3c198455811b61/affordance/affordance_annot.json ADDED
@@ -0,0 +1,139 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ {
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+ "affordances": [
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+ {
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+ "part_name": "stem of tomato",
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+ "mask_color": "Red",
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+ "graspable": true,
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+ "grasp_scenarios": [
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+ {
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+ "scenario": "delicately grasp the stem to orient the tomato",
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+ "confidence": 0.34
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+ },
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+ {
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+ "scenario": "lightly pull or reposition the tomato by the stem",
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+ "confidence": 0.18
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+ }
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+ ],
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+ "functional_labels": [
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+ "connect to vine",
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+ "indicate top orientation",
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+ "support calyx attachment"
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+ ],
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+ "semantic_description": "Small upright green plant stem with a matte slightly rough fibrous texture, narrow cylindrical shape, and top-center position protruding above the tomato.",
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+ "id": 0,
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+ "grasp_group": {
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+ "orientation": {
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+ {
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+ "part_name": "calyx",
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+ "mask_color": "Green",
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+ "graspable": false,
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+ "grasp_scenarios": [],
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+ "functional_labels": [
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+ "protect stem end",
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+ "connect sepals around the top",
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+ "indicate top orientation"
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+ ],
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+ "semantic_description": "Thin star-shaped green leafy calyx with a matte slightly rough plant surface, narrow pointed lobes, and a small top-mounted ring around the stem.",
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+ "id": 1,
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+ "grasp_group": {}
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+ },
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+ {
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+ "part_name": "tomato body",
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+ "mask_color": "Blue",
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+ "graspable": true,
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+ "grasp_scenarios": [
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+ {
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+ "scenario": "grasp the tomato body to pick it up",
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+ "confidence": 0.93
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+ },
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+ {
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+ "scenario": "hold the tomato body to stabilize it during placement",
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+ "confidence": 0.9
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+ {
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+ "scenario": "grasp the tomato body for inspection or reorientation",
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+ "confidence": 0.88
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+ }
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+ ],
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+ "functional_labels": [
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+ "main grasp surface",
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+ "contain edible flesh",
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+ "support handling",
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+ "provide bulk of the fruit"
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+ ],
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+ "semantic_description": "Large rounded red-orange tomato body with smooth slightly glossy food skin, firm yielding texture, subtle natural shading, and the main central mass of the fruit.",
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+ "id": 2,
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+ "grasp_group": {
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+ "grasp_25": {
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+ "quality_check": {
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+ "success": true,
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+ "message": "YES"
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+ }
dataset/food/ingredients/43b8971eeddc574aab3c198455811b61/affordance/mesh_part_seg.glb ADDED
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