Add asset food/fruits/d9ddfc005fde5fd0b130af2144091198
Browse files
.gitattributes
CHANGED
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@@ -6746,3 +6746,4 @@ dataset/food/beverages/deb1095a3fe15233a36132f650ccbc79/affordance/mesh_part_seg
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| 6746 |
dataset/food/beverages/eaa17cfd5f105b2884a03e6302ca52df/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6747 |
dataset/food/beverages/e7e52b5bc28f5c6b9cf8db04544f7796/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6748 |
dataset/food/beverages/ee5ce721b8e65517914b384bb4cb6a35/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6746 |
dataset/food/beverages/eaa17cfd5f105b2884a03e6302ca52df/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6747 |
dataset/food/beverages/e7e52b5bc28f5c6b9cf8db04544f7796/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6748 |
dataset/food/beverages/ee5ce721b8e65517914b384bb4cb6a35/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6749 |
+
dataset/food/fruits/d9ddfc005fde5fd0b130af2144091198/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/fruits/d9ddfc005fde5fd0b130af2144091198/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "body of lemon",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the lemon body to pick up the fruit",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
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"scenario": "hold the lemon body to stabilize it for cutting or squeezing",
|
| 14 |
+
"confidence": 0.91
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "reorient the lemon by gripping its middle section",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"contain edible flesh and juice",
|
| 24 |
+
"support squeezing",
|
| 25 |
+
"support cutting and food preparation",
|
| 26 |
+
"provide overall fruit structure"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large elongated pale yellow lemon body with matte to slightly satin skin, fine pebbled citrus texture, and a tapered oval shape forming nearly the entire fruit.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
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"grasp_0": {
|
| 32 |
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"confidence": 0.977062463760376,
|
| 33 |
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"position": [
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| 34 |
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| 35 |
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| 36 |
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| 37 |
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],
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| 38 |
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"orientation": {
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| 39 |
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"w": 0.07391424783537359,
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| 40 |
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"xyz": [
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| 43 |
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| 44 |
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]
|
| 45 |
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}
|
| 46 |
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},
|
| 47 |
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"grasp_1": {
|
| 48 |
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"confidence": 0.9750126600265503,
|
| 49 |
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"position": [
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| 50 |
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| 51 |
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| 52 |
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| 53 |
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| 54 |
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"orientation": {
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| 59 |
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| 60 |
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]
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| 61 |
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}
|
| 62 |
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},
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| 63 |
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"grasp_2": {
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| 64 |
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"confidence": 0.975002110004425,
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| 65 |
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"position": [
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| 68 |
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| 69 |
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],
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"orientation": {
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]
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| 77 |
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}
|
| 78 |
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},
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"grasp_3": {
|
| 80 |
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"confidence": 0.974782407283783,
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| 81 |
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"position": [
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"orientation": {
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| 92 |
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]
|
| 93 |
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}
|
| 94 |
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},
|
| 95 |
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"grasp_4": {
|
| 96 |
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"confidence": 0.9747149348258972,
|
| 97 |
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"position": [
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| 99 |
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| 100 |
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| 101 |
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],
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"orientation": {
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]
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},
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"grasp_5": {
|
| 112 |
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"confidence": 0.973383367061615,
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| 113 |
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"position": [
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],
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"orientation": {
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| 124 |
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]
|
| 125 |
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}
|
| 126 |
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},
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"grasp_6": {
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| 128 |
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}
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},
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"grasp_7": {
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|
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],
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"orientation": {
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]
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}
|
| 158 |
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},
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"grasp_8": {
|
| 160 |
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"confidence": 0.9722062945365906,
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}
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},
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"grasp_10": {
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"confidence": 0.9721528887748718,
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"orientation": {
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|
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"grasp_11": {
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"orientation": {
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}
|
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},
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"grasp_12": {
|
| 208 |
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"confidence": 0.9720379710197449,
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"position": [
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"orientation": {
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"xyz": [
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| 217 |
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|
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|
| 219 |
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|
| 220 |
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|
| 221 |
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|
| 222 |
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},
|
| 223 |
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"grasp_13": {
|
| 224 |
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"confidence": 0.9719172716140747,
|
| 225 |
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|
| 226 |
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|
| 227 |
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|
| 228 |
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|
| 229 |
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],
|
| 230 |
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"orientation": {
|
| 231 |
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"w": 0.4666999982866117,
|
| 232 |
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| 233 |
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| 234 |
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|
| 235 |
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|
| 236 |
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|
| 237 |
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}
|
| 238 |
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},
|
| 239 |
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"grasp_14": {
|
| 240 |
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"confidence": 0.9718319773674011,
|
| 241 |
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|
| 242 |
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|
| 243 |
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|
| 244 |
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|
| 245 |
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],
|
| 246 |
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"orientation": {
|
| 247 |
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|
| 248 |
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| 249 |
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|
| 250 |
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|
| 251 |
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|
| 252 |
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]
|
| 253 |
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}
|
| 254 |
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},
|
| 255 |
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"grasp_15": {
|
| 256 |
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"confidence": 0.9716401696205139,
|
| 257 |
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"position": [
|
| 258 |
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0.09761557832825929,
|
| 259 |
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|
| 260 |
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|
| 261 |
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],
|
| 262 |
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"orientation": {
|
| 263 |
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"w": 0.134358379992951,
|
| 264 |
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"xyz": [
|
| 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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}
|
| 270 |
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},
|
| 271 |
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"grasp_17": {
|
| 272 |
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|
| 273 |
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|
| 274 |
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|
| 275 |
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|
| 276 |
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0.06553091185924131
|
| 277 |
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],
|
| 278 |
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"orientation": {
|
| 279 |
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"w": 0.39093273879234597,
|
| 280 |
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"xyz": [
|
| 281 |
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0.040829329949137905,
|
| 282 |
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0.9102204430980662,
|
| 283 |
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|
| 284 |
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]
|
| 285 |
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}
|
| 286 |
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},
|
| 287 |
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"grasp_18": {
|
| 288 |
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"confidence": 0.971267580986023,
|
| 289 |
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"position": [
|
| 290 |
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0.035167225752957165,
|
| 291 |
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-0.041980724316090345,
|
| 292 |
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0.08749593871471006
|
| 293 |
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],
|
| 294 |
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"orientation": {
|
| 295 |
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"w": 0.1617943271717995,
|
| 296 |
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"xyz": [
|
| 297 |
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-0.9700896332828092,
|
| 298 |
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0.01804185422486243,
|
| 299 |
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0.18006440677818084
|
| 300 |
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]
|
| 301 |
+
}
|
| 302 |
+
}
|
| 303 |
+
}
|
| 304 |
+
},
|
| 305 |
+
{
|
| 306 |
+
"part_name": "stem nub of lemon",
|
| 307 |
+
"mask_color": "Blue",
|
| 308 |
+
"graspable": true,
|
| 309 |
+
"grasp_scenarios": [
|
| 310 |
+
{
|
| 311 |
+
"scenario": "delicately pinch the stem nub to orient the lemon",
|
| 312 |
+
"confidence": 0.28
|
| 313 |
+
},
|
| 314 |
+
{
|
| 315 |
+
"scenario": "briefly hold the nub to stabilize the fruit during inspection",
|
| 316 |
+
"confidence": 0.18
|
| 317 |
+
}
|
| 318 |
+
],
|
| 319 |
+
"functional_labels": [
|
| 320 |
+
"connect stem to fruit body",
|
| 321 |
+
"indicate stem-end orientation",
|
| 322 |
+
"provide a small protruding reference point"
|
| 323 |
+
],
|
| 324 |
+
"semantic_description": "Small pale yellow to slightly brownish nub at the stem end of the lemon, with peel-like surface texture and a slight protrusion from the fruit body.",
|
| 325 |
+
"id": 2,
|
| 326 |
+
"grasp_group": {}
|
| 327 |
+
},
|
| 328 |
+
{
|
| 329 |
+
"part_name": "stem of lemon",
|
| 330 |
+
"mask_color": "Green",
|
| 331 |
+
"graspable": false,
|
| 332 |
+
"grasp_scenarios": [],
|
| 333 |
+
"functional_labels": [
|
| 334 |
+
"connect fruit to branch",
|
| 335 |
+
"indicate stem end orientation",
|
| 336 |
+
"serve as a natural attachment remnant"
|
| 337 |
+
],
|
| 338 |
+
"semantic_description": "Thin short olive-green to brown woody stem with a matte rough texture and slight bends, extending from the lemon's stem end.",
|
| 339 |
+
"id": 1,
|
| 340 |
+
"grasp_group": {}
|
| 341 |
+
},
|
| 342 |
+
{
|
| 343 |
+
"part_name": "blossom end of lemon",
|
| 344 |
+
"mask_color": "Yellow",
|
| 345 |
+
"graspable": false,
|
| 346 |
+
"grasp_scenarios": [],
|
| 347 |
+
"functional_labels": [
|
| 348 |
+
"indicate tip orientation",
|
| 349 |
+
"form the distal fruit tip",
|
| 350 |
+
"protect terminal end of peel"
|
| 351 |
+
],
|
| 352 |
+
"semantic_description": "Tiny pointed yellow tip at the end opposite the stem, matching the peel with a pebbled citrus skin texture and a very small protruding shape.",
|
| 353 |
+
"id": 3,
|
| 354 |
+
"grasp_group": {}
|
| 355 |
+
}
|
| 356 |
+
],
|
| 357 |
+
"quality_check": {
|
| 358 |
+
"success": true,
|
| 359 |
+
"message": "YES"
|
| 360 |
+
}
|
| 361 |
+
}
|
dataset/food/fruits/d9ddfc005fde5fd0b130af2144091198/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d23d3ce6b308feba0edd3761753b0247c6c0647ad5b30e05465c8216d773ce8a
|
| 3 |
+
size 3778600
|