Add asset food/ingredients/121d9883663a5a308aac4899b6081e22
Browse files
.gitattributes
CHANGED
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@@ -6764,3 +6764,4 @@ dataset/food/fruits/f95c5923bb55558582ebac6e9a1a4242/affordance/mesh_part_seg.gl
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| 6764 |
dataset/food/fruits/fc6543dd9dfd5ed69eda6ac2047b04ef/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6765 |
dataset/food/ingredients/05f18a528d1d59b88ad6fdd947ac920a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6766 |
dataset/food/ingredients/0c1ff1b4da275912b33d04e79986d938/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6764 |
dataset/food/fruits/fc6543dd9dfd5ed69eda6ac2047b04ef/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6765 |
dataset/food/ingredients/05f18a528d1d59b88ad6fdd947ac920a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6766 |
dataset/food/ingredients/0c1ff1b4da275912b33d04e79986d938/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6767 |
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dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,1369 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "garlic clove",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp an exposed outer clove to pick up or stabilize the whole garlic bulb",
|
| 10 |
+
"confidence": 0.78
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pinch an outer clove to start peeling or separating it from the bulb",
|
| 14 |
+
"confidence": 0.72
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"contain edible flesh",
|
| 19 |
+
"form the main bulb body",
|
| 20 |
+
"provide grasp surface",
|
| 21 |
+
"separate into individual segments"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "A large curved outer garlic clove with pale pink to blush skin, papery matte finish, fine longitudinal ridges, and a smooth slightly dry surface on the bulb exterior.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_6": {
|
| 27 |
+
"confidence": 0.8788383603096008,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.10302294202847406,
|
| 30 |
+
0.013788001087959856,
|
| 31 |
+
-0.020265687242499553
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.1427451767377218,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.6341336793938472,
|
| 37 |
+
-0.004400627264842916,
|
| 38 |
+
0.7599203416518167
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_12": {
|
| 43 |
+
"confidence": 0.8117936253547668,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.07549316593213007,
|
| 46 |
+
0.061365946603473276,
|
| 47 |
+
0.01130198129976634
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.670301574327201,
|
| 51 |
+
"xyz": [
|
| 52 |
+
0.42749282501972347,
|
| 53 |
+
0.6043825130647571,
|
| 54 |
+
-0.051647477311682254
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_13": {
|
| 59 |
+
"confidence": 0.8078429698944092,
|
| 60 |
+
"position": [
|
| 61 |
+
-0.08742994227213785,
|
| 62 |
+
0.04872996307676658,
|
| 63 |
+
-0.005999196771881543
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.3102986212796631,
|
| 67 |
+
"xyz": [
|
| 68 |
+
0.679914238753746,
|
| 69 |
+
-0.0725700989537087,
|
| 70 |
+
0.6604278721478246
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
}
|
| 74 |
+
}
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"part_name": "garlic clove",
|
| 78 |
+
"mask_color": "Green",
|
| 79 |
+
"graspable": true,
|
| 80 |
+
"grasp_scenarios": [
|
| 81 |
+
{
|
| 82 |
+
"scenario": "grasp an exposed outer clove to pick up or stabilize the whole garlic bulb",
|
| 83 |
+
"confidence": 0.77
|
| 84 |
+
},
|
| 85 |
+
{
|
| 86 |
+
"scenario": "pinch an outer clove to start peeling or separating it from the bulb",
|
| 87 |
+
"confidence": 0.71
|
| 88 |
+
}
|
| 89 |
+
],
|
| 90 |
+
"functional_labels": [
|
| 91 |
+
"contain edible flesh",
|
| 92 |
+
"form the main bulb body",
|
| 93 |
+
"provide grasp surface",
|
| 94 |
+
"separate into individual segments"
|
| 95 |
+
],
|
| 96 |
+
"semantic_description": "A medium outer garlic clove with light pinkish-white skin, papery matte finish, fine vertical striations, and a firm slightly dry curved surface along the bulb side.",
|
| 97 |
+
"id": 1,
|
| 98 |
+
"grasp_group": {
|
| 99 |
+
"grasp_30": {
|
| 100 |
+
"confidence": 0.8742914795875549,
|
| 101 |
+
"position": [
|
| 102 |
+
0.03288747585611418,
|
| 103 |
+
-0.10872179322177544,
|
| 104 |
+
-0.005575478993705474
|
| 105 |
+
],
|
| 106 |
+
"orientation": {
|
| 107 |
+
"w": 0.44070684564837126,
|
| 108 |
+
"xyz": [
|
| 109 |
+
-0.5683560700342412,
|
| 110 |
+
0.39206041025503713,
|
| 111 |
+
0.5736178942157809
|
| 112 |
+
]
|
| 113 |
+
}
|
| 114 |
+
},
|
| 115 |
+
"grasp_32": {
|
| 116 |
+
"confidence": 0.830090343952179,
|
| 117 |
+
"position": [
|
| 118 |
+
-0.0003595190355554223,
|
| 119 |
+
-0.11447501234943047,
|
| 120 |
+
0.005609746105619706
|
| 121 |
+
],
|
| 122 |
+
"orientation": {
|
| 123 |
+
"w": 0.44840292920930036,
|
| 124 |
+
"xyz": [
|
| 125 |
+
-0.46740219399530775,
|
| 126 |
+
-0.5506634602696239,
|
| 127 |
+
-0.5265356166953724
|
| 128 |
+
]
|
| 129 |
+
}
|
| 130 |
+
},
|
| 131 |
+
"grasp_33": {
|
| 132 |
+
"confidence": 0.9275129437446594,
|
| 133 |
+
"position": [
|
| 134 |
+
0.006878277112264186,
|
| 135 |
+
-0.10939259134465829,
|
| 136 |
+
-0.028957115471712314
|
| 137 |
+
],
|
| 138 |
+
"orientation": {
|
| 139 |
+
"w": 0.5477293939328098,
|
| 140 |
+
"xyz": [
|
| 141 |
+
-0.4489533427106212,
|
| 142 |
+
0.4149381987212981,
|
| 143 |
+
0.5711914725666702
|
| 144 |
+
]
|
| 145 |
+
}
|
| 146 |
+
},
|
| 147 |
+
"grasp_34": {
|
| 148 |
+
"confidence": 0.8924508690834045,
|
| 149 |
+
"position": [
|
| 150 |
+
0.017335024022031575,
|
| 151 |
+
-0.11263892106944695,
|
| 152 |
+
0.0008700081525603309
|
| 153 |
+
],
|
| 154 |
+
"orientation": {
|
| 155 |
+
"w": 0.43424191991129707,
|
| 156 |
+
"xyz": [
|
| 157 |
+
-0.5370960954898805,
|
| 158 |
+
0.46427184678990263,
|
| 159 |
+
0.5544487275479754
|
| 160 |
+
]
|
| 161 |
+
}
|
| 162 |
+
},
|
| 163 |
+
"grasp_35": {
|
| 164 |
+
"confidence": 0.8814942836761475,
|
| 165 |
+
"position": [
|
| 166 |
+
-0.019246490381192416,
|
| 167 |
+
-0.10256721131736413,
|
| 168 |
+
0.040227008998044766
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| 169 |
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0.012677531049121171,
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0.0016852942644618452,
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{
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{
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| 992 |
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"scenario": "lightly grasp the dried stem neck to orient the bulb during handling",
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| 994 |
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},
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{
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| 996 |
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"scenario": "hold the stem neck briefly while positioning or inspecting the garlic",
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| 1003 |
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| 1004 |
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],
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0.027850124999531545
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0.026765532806166448
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0.7685680961381843,
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},
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| 1106 |
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{
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| 1107 |
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{
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],
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| 1124 |
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"separate into individual segments"
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| 1125 |
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],
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| 1127 |
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0.08135811422458504
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0.08607633359497413,
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0.18977631108087376,
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},
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{
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{
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| 1267 |
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},
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{
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],
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"provide grasp surface",
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| 1277 |
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"separate into individual segments"
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| 1278 |
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],
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| 1279 |
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"semantic_description": "An outer garlic clove with pale pink-white papery skin, matte finish, smooth dry texture, and a rounded tapering form on the bulb side.",
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| 1280 |
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| 1281 |
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0.04794476873939857,
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0.044682750492938794
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0.8107731171669469,
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},
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|
| 1359 |
+
]
|
| 1360 |
+
}
|
| 1361 |
+
}
|
| 1362 |
+
}
|
| 1363 |
+
}
|
| 1364 |
+
],
|
| 1365 |
+
"quality_check": {
|
| 1366 |
+
"success": false,
|
| 1367 |
+
"message": "Root plate and stem descriptions/functions mismatch masks; graspability too permissive for individual cloves."
|
| 1368 |
+
}
|
| 1369 |
+
}
|
dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:731d272347c326a2dd0f0514a9c2a27fc3a0d007f961453b410b7e691bb3b7f1
|
| 3 |
+
size 3802288
|