Add asset food/ingredients/1d55bd8a2f145d468f998ba75da10365
Browse files
.gitattributes
CHANGED
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@@ -6771,3 +6771,4 @@ dataset/food/ingredients/002600a16f2a5b839ce550cf4223a21e/affordance/mesh_part_s
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| 6771 |
dataset/food/ingredients/144658c3151252abaa586a4da1df8064/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6772 |
dataset/food/ingredients/14a5d9f1dbc950368033ec4eaed1a4f9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6773 |
dataset/food/ingredients/1d4600807a04582f8b19e3f07a8dca9b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6771 |
dataset/food/ingredients/144658c3151252abaa586a4da1df8064/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6772 |
dataset/food/ingredients/14a5d9f1dbc950368033ec4eaed1a4f9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6773 |
dataset/food/ingredients/1d4600807a04582f8b19e3f07a8dca9b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6774 |
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dataset/food/ingredients/1d55bd8a2f145d468f998ba75da10365/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/ingredients/1d55bd8a2f145d468f998ba75da10365/affordance/affordance_annot.json
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| 1 |
+
{
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| 2 |
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"affordances": [
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| 3 |
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{
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| 4 |
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"part_name": "stem of chili",
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| 5 |
+
"mask_color": "Red",
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| 6 |
+
"graspable": true,
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| 7 |
+
"grasp_scenarios": [
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| 8 |
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{
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| 9 |
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"scenario": "delicately grasp the stem to orient the chili during inspection or placement",
|
| 10 |
+
"confidence": 0.43
|
| 11 |
+
},
|
| 12 |
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{
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| 13 |
+
"scenario": "lightly hold the stem to stabilize the chili while the body is processed",
|
| 14 |
+
"confidence": 0.31
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"connect to plant",
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| 19 |
+
"indicate top orientation",
|
| 20 |
+
"provide a light manipulation point",
|
| 21 |
+
"support attachment to calyx"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "A small curved green stem with a matte slightly fibrous surface and firm texture protrudes from the top, thinner than the body and tapering toward the tip.",
|
| 24 |
+
"id": 0,
|
| 25 |
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"grasp_group": {
|
| 26 |
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"grasp_0": {
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| 27 |
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"confidence": 0.826513946056366,
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| 28 |
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"position": [
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| 29 |
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| 31 |
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],
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"orientation": {
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"w": 0.4870927603281047,
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"xyz": [
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| 39 |
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]
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| 40 |
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}
|
| 41 |
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},
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| 42 |
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"grasp_4": {
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| 43 |
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"confidence": 0.7873513102531433,
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| 44 |
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"position": [
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| 45 |
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| 46 |
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| 47 |
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| 48 |
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],
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"orientation": {
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"w": 0.4829408047741385,
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| 51 |
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"xyz": [
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| 54 |
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]
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| 56 |
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}
|
| 57 |
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},
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| 58 |
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"grasp_9": {
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| 59 |
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"confidence": 0.6649832129478455,
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| 60 |
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"position": [
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],
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"orientation": {
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"w": 0.49608160626681463,
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"xyz": [
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| 70 |
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| 71 |
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]
|
| 72 |
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}
|
| 73 |
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},
|
| 74 |
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"grasp_10": {
|
| 75 |
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"confidence": 0.6495975255966187,
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| 76 |
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"position": [
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],
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"orientation": {
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"w": 0.496556656787563,
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"xyz": [
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]
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}
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},
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"grasp_11": {
|
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"confidence": 0.6343145370483398,
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"position": [
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],
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"orientation": {
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"w": 0.5113052744069431,
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"xyz": [
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}
|
| 106 |
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}
|
| 107 |
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},
|
| 108 |
+
{
|
| 109 |
+
"part_name": "calyx of chili",
|
| 110 |
+
"mask_color": "Green",
|
| 111 |
+
"graspable": false,
|
| 112 |
+
"grasp_scenarios": [],
|
| 113 |
+
"functional_labels": [
|
| 114 |
+
"join stem to body",
|
| 115 |
+
"protect the top of the fruit",
|
| 116 |
+
"indicate top boundary"
|
| 117 |
+
],
|
| 118 |
+
"semantic_description": "A short green leafy cap at the top surrounds the stem base, with a matte slightly uneven surface and small star-like lobes against the pepper body.",
|
| 119 |
+
"id": 1,
|
| 120 |
+
"grasp_group": {}
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"part_name": "body of chili",
|
| 124 |
+
"mask_color": "Blue",
|
| 125 |
+
"graspable": true,
|
| 126 |
+
"grasp_scenarios": [
|
| 127 |
+
{
|
| 128 |
+
"scenario": "grasp the main body to pick up and move the chili",
|
| 129 |
+
"confidence": 0.95
|
| 130 |
+
},
|
| 131 |
+
{
|
| 132 |
+
"scenario": "hold the body to stabilize it for cutting or inspection",
|
| 133 |
+
"confidence": 0.9
|
| 134 |
+
}
|
| 135 |
+
],
|
| 136 |
+
"functional_labels": [
|
| 137 |
+
"main grasp surface",
|
| 138 |
+
"contain edible flesh",
|
| 139 |
+
"support handling",
|
| 140 |
+
"provide bulk of the fruit"
|
| 141 |
+
],
|
| 142 |
+
"semantic_description": "The large lobed pepper body is glossy yellow with smooth firm food skin, rounded blocky contours, and a plump central form that makes up nearly all of the object's volume.",
|
| 143 |
+
"id": 2,
|
| 144 |
+
"grasp_group": {
|
| 145 |
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"grasp_22": {
|
| 146 |
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"confidence": 0.6111661195755005,
|
| 147 |
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"position": [
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| 148 |
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| 149 |
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| 150 |
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|
| 151 |
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],
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| 152 |
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"orientation": {
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"w": 0.038432508438497624,
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"xyz": [
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| 157 |
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| 158 |
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]
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| 159 |
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}
|
| 160 |
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},
|
| 161 |
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"grasp_24": {
|
| 162 |
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"confidence": 0.598871111869812,
|
| 163 |
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"position": [
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| 164 |
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| 165 |
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| 166 |
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],
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"orientation": {
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"w": 0.2101242764783904,
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"xyz": [
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]
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}
|
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},
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"grasp_27": {
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| 178 |
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"confidence": 0.5817737579345703,
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"position": [
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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_28": {
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"confidence": 0.577298641204834,
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"position": [
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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_34": {
|
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"confidence": 0.5714208483695984,
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"position": [
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},
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"grasp_36": {
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"confidence": 0.5692340135574341,
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"position": [
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"orientation": {
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|
| 241 |
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}
|
| 242 |
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}
|
| 243 |
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],
|
| 244 |
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"quality_check": {
|
| 245 |
+
"success": true,
|
| 246 |
+
"message": "YES"
|
| 247 |
+
}
|
| 248 |
+
}
|
dataset/food/ingredients/1d55bd8a2f145d468f998ba75da10365/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d24e6c90082da145b2a799f18516143a766517f537939fd65b5c461beec4345b
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| 3 |
+
size 3779288
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