Add asset food/fruits/e04fad3186575b67b250dd1684766ac1
Browse files
.gitattributes
CHANGED
|
@@ -6749,4 +6749,4 @@ dataset/food/beverages/ee5ce721b8e65517914b384bb4cb6a35/affordance/mesh_part_seg
|
|
| 6749 |
dataset/food/fruits/d9ddfc005fde5fd0b130af2144091198/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6750 |
dataset/food/fruits/d9d7ac60788859b18234388efd84d523/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6751 |
dataset/food/fruits/db5c2fb9ae6b576ea474d58ab5feecf7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6752 |
-
dataset/food/fruits/
|
|
|
|
| 6749 |
dataset/food/fruits/d9ddfc005fde5fd0b130af2144091198/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6750 |
dataset/food/fruits/d9d7ac60788859b18234388efd84d523/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6751 |
dataset/food/fruits/db5c2fb9ae6b576ea474d58ab5feecf7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6752 |
+
dataset/food/fruits/e04fad3186575b67b250dd1684766ac1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/food/fruits/e04fad3186575b67b250dd1684766ac1/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,310 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "body of pear",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the pear body to pick up and transport the fruit",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the pear body to stabilize it during inspection or cutting preparation",
|
| 14 |
+
"confidence": 0.86
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"main grasp surface",
|
| 19 |
+
"contain edible flesh",
|
| 20 |
+
"support handling",
|
| 21 |
+
"provide fruit mass and shape"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large bulbous pink-red pear body with smooth slightly glossy food skin, a firm fine-grained texture, and a rounded form that tapers toward the top.",
|
| 24 |
+
"id": 1,
|
| 25 |
+
"grasp_group": {}
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"part_name": "stem of pear",
|
| 29 |
+
"mask_color": "Red",
|
| 30 |
+
"graspable": true,
|
| 31 |
+
"grasp_scenarios": [
|
| 32 |
+
{
|
| 33 |
+
"scenario": "delicately grasp the stem to orient the pear",
|
| 34 |
+
"confidence": 0.31
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"scenario": "lift the pear by the stem in a careful low-load manipulation",
|
| 38 |
+
"confidence": 0.14
|
| 39 |
+
}
|
| 40 |
+
],
|
| 41 |
+
"functional_labels": [
|
| 42 |
+
"connect to branch",
|
| 43 |
+
"indicate top orientation",
|
| 44 |
+
"assist delicate manipulation"
|
| 45 |
+
],
|
| 46 |
+
"semantic_description": "Small curved brown woody stem with a hard slightly rough fibrous texture protruding from the narrow top of the pear.",
|
| 47 |
+
"id": 0,
|
| 48 |
+
"grasp_group": {
|
| 49 |
+
"grasp_0": {
|
| 50 |
+
"confidence": 0.953928530216217,
|
| 51 |
+
"position": [
|
| 52 |
+
0.05977815078222193,
|
| 53 |
+
-0.03388294467004016,
|
| 54 |
+
0.14458130113780499
|
| 55 |
+
],
|
| 56 |
+
"orientation": {
|
| 57 |
+
"w": 0.15303484030119202,
|
| 58 |
+
"xyz": [
|
| 59 |
+
0.5117239354699965,
|
| 60 |
+
-0.7993334108737217,
|
| 61 |
+
-0.2752908458014347
|
| 62 |
+
]
|
| 63 |
+
}
|
| 64 |
+
},
|
| 65 |
+
"grasp_1": {
|
| 66 |
+
"confidence": 0.9483345746994019,
|
| 67 |
+
"position": [
|
| 68 |
+
0.024467914045089856,
|
| 69 |
+
-0.015053293493110687,
|
| 70 |
+
0.15754918567836285
|
| 71 |
+
],
|
| 72 |
+
"orientation": {
|
| 73 |
+
"w": 0.09984274803139097,
|
| 74 |
+
"xyz": [
|
| 75 |
+
0.008367225713142279,
|
| 76 |
+
-0.993751163931402,
|
| 77 |
+
-0.04919389580414063
|
| 78 |
+
]
|
| 79 |
+
}
|
| 80 |
+
},
|
| 81 |
+
"grasp_2": {
|
| 82 |
+
"confidence": 0.9317553043365479,
|
| 83 |
+
"position": [
|
| 84 |
+
0.05808671997510828,
|
| 85 |
+
-0.008763475168962032,
|
| 86 |
+
0.14797532372176647
|
| 87 |
+
],
|
| 88 |
+
"orientation": {
|
| 89 |
+
"w": 0.1823640899492012,
|
| 90 |
+
"xyz": [
|
| 91 |
+
0.6163096956138758,
|
| 92 |
+
-0.7438743343851087,
|
| 93 |
+
-0.1831848040434653
|
| 94 |
+
]
|
| 95 |
+
}
|
| 96 |
+
},
|
| 97 |
+
"grasp_3": {
|
| 98 |
+
"confidence": 0.931131899356842,
|
| 99 |
+
"position": [
|
| 100 |
+
0.061621852830285206,
|
| 101 |
+
-0.005051146086771041,
|
| 102 |
+
0.1472021322697401
|
| 103 |
+
],
|
| 104 |
+
"orientation": {
|
| 105 |
+
"w": 0.17178022221190273,
|
| 106 |
+
"xyz": [
|
| 107 |
+
-0.7858838702652112,
|
| 108 |
+
-0.5518458552468745,
|
| 109 |
+
0.2198732584027614
|
| 110 |
+
]
|
| 111 |
+
}
|
| 112 |
+
},
|
| 113 |
+
"grasp_4": {
|
| 114 |
+
"confidence": 0.9285786747932434,
|
| 115 |
+
"position": [
|
| 116 |
+
0.04569963054382242,
|
| 117 |
+
-0.0518543150392361,
|
| 118 |
+
0.14516442827880383
|
| 119 |
+
],
|
| 120 |
+
"orientation": {
|
| 121 |
+
"w": 0.29440602753127726,
|
| 122 |
+
"xyz": [
|
| 123 |
+
-0.9094173894935372,
|
| 124 |
+
-0.26971769864718703,
|
| 125 |
+
0.11635061528190613
|
| 126 |
+
]
|
| 127 |
+
}
|
| 128 |
+
},
|
| 129 |
+
"grasp_5": {
|
| 130 |
+
"confidence": 0.9271778464317322,
|
| 131 |
+
"position": [
|
| 132 |
+
0.042967837915057316,
|
| 133 |
+
-0.0020401180372573435,
|
| 134 |
+
0.15229463391005993
|
| 135 |
+
],
|
| 136 |
+
"orientation": {
|
| 137 |
+
"w": 0.14482427904672734,
|
| 138 |
+
"xyz": [
|
| 139 |
+
0.6091962755429796,
|
| 140 |
+
-0.772553078698391,
|
| 141 |
+
-0.10520250309187576
|
| 142 |
+
]
|
| 143 |
+
}
|
| 144 |
+
},
|
| 145 |
+
"grasp_8": {
|
| 146 |
+
"confidence": 0.9165284037590027,
|
| 147 |
+
"position": [
|
| 148 |
+
0.07800280736410059,
|
| 149 |
+
-0.02068225183757022,
|
| 150 |
+
0.14017748646438122
|
| 151 |
+
],
|
| 152 |
+
"orientation": {
|
| 153 |
+
"w": 0.187610945922632,
|
| 154 |
+
"xyz": [
|
| 155 |
+
-0.8883329974757267,
|
| 156 |
+
-0.2828764042646323,
|
| 157 |
+
0.3092693946644549
|
| 158 |
+
]
|
| 159 |
+
}
|
| 160 |
+
},
|
| 161 |
+
"grasp_9": {
|
| 162 |
+
"confidence": 0.9131042957305908,
|
| 163 |
+
"position": [
|
| 164 |
+
0.07258523689233698,
|
| 165 |
+
-0.022186252113897353,
|
| 166 |
+
0.14590978436172009
|
| 167 |
+
],
|
| 168 |
+
"orientation": {
|
| 169 |
+
"w": 0.30545040495090797,
|
| 170 |
+
"xyz": [
|
| 171 |
+
-0.6480676359504318,
|
| 172 |
+
-0.6803458027637321,
|
| 173 |
+
0.15439552458124697
|
| 174 |
+
]
|
| 175 |
+
}
|
| 176 |
+
},
|
| 177 |
+
"grasp_10": {
|
| 178 |
+
"confidence": 0.9126032590866089,
|
| 179 |
+
"position": [
|
| 180 |
+
0.03594745384179987,
|
| 181 |
+
-0.025418515142519027,
|
| 182 |
+
0.14957636408507824
|
| 183 |
+
],
|
| 184 |
+
"orientation": {
|
| 185 |
+
"w": 0.1321244791468385,
|
| 186 |
+
"xyz": [
|
| 187 |
+
-0.973853032807212,
|
| 188 |
+
-0.11609712540350128,
|
| 189 |
+
0.143787516757942
|
| 190 |
+
]
|
| 191 |
+
}
|
| 192 |
+
},
|
| 193 |
+
"grasp_11": {
|
| 194 |
+
"confidence": 0.9101608991622925,
|
| 195 |
+
"position": [
|
| 196 |
+
0.0715974761696998,
|
| 197 |
+
-0.04577175417216495,
|
| 198 |
+
0.13445751182734966
|
| 199 |
+
],
|
| 200 |
+
"orientation": {
|
| 201 |
+
"w": 0.29360785200219214,
|
| 202 |
+
"xyz": [
|
| 203 |
+
0.15409158077983034,
|
| 204 |
+
-0.9029831302149055,
|
| 205 |
+
-0.2732611946887484
|
| 206 |
+
]
|
| 207 |
+
}
|
| 208 |
+
},
|
| 209 |
+
"grasp_13": {
|
| 210 |
+
"confidence": 0.9005395770072937,
|
| 211 |
+
"position": [
|
| 212 |
+
0.03938564719283022,
|
| 213 |
+
-0.05610695743234828,
|
| 214 |
+
0.14876732043921947
|
| 215 |
+
],
|
| 216 |
+
"orientation": {
|
| 217 |
+
"w": 0.2975914244261828,
|
| 218 |
+
"xyz": [
|
| 219 |
+
-0.9249981433083783,
|
| 220 |
+
-0.21668526057802107,
|
| 221 |
+
0.09415559904904106
|
| 222 |
+
]
|
| 223 |
+
}
|
| 224 |
+
},
|
| 225 |
+
"grasp_15": {
|
| 226 |
+
"confidence": 0.8980385065078735,
|
| 227 |
+
"position": [
|
| 228 |
+
0.07122719721519388,
|
| 229 |
+
-0.012816914182621986,
|
| 230 |
+
0.14523435942828655
|
| 231 |
+
],
|
| 232 |
+
"orientation": {
|
| 233 |
+
"w": 0.31421777296895925,
|
| 234 |
+
"xyz": [
|
| 235 |
+
0.2840318592939898,
|
| 236 |
+
-0.8970766541178969,
|
| 237 |
+
-0.12588316286567344
|
| 238 |
+
]
|
| 239 |
+
}
|
| 240 |
+
},
|
| 241 |
+
"grasp_17": {
|
| 242 |
+
"confidence": 0.8922969698905945,
|
| 243 |
+
"position": [
|
| 244 |
+
0.03847414316260256,
|
| 245 |
+
-0.027705057349521667,
|
| 246 |
+
0.1512195747345686
|
| 247 |
+
],
|
| 248 |
+
"orientation": {
|
| 249 |
+
"w": 0.23481459199512825,
|
| 250 |
+
"xyz": [
|
| 251 |
+
-0.4874919483808177,
|
| 252 |
+
-0.8400218861581197,
|
| 253 |
+
-0.03971068402068763
|
| 254 |
+
]
|
| 255 |
+
}
|
| 256 |
+
},
|
| 257 |
+
"grasp_18": {
|
| 258 |
+
"confidence": 0.8690221309661865,
|
| 259 |
+
"position": [
|
| 260 |
+
0.08774350272142328,
|
| 261 |
+
-0.012156595301348716,
|
| 262 |
+
0.13242853991687298
|
| 263 |
+
],
|
| 264 |
+
"orientation": {
|
| 265 |
+
"w": 0.20000804984549608,
|
| 266 |
+
"xyz": [
|
| 267 |
+
-0.8408790214570359,
|
| 268 |
+
-0.34427874839775874,
|
| 269 |
+
0.3665943189305202
|
| 270 |
+
]
|
| 271 |
+
}
|
| 272 |
+
},
|
| 273 |
+
"grasp_19": {
|
| 274 |
+
"confidence": 0.8603425025939941,
|
| 275 |
+
"position": [
|
| 276 |
+
0.06324217157089151,
|
| 277 |
+
-0.008704789739567786,
|
| 278 |
+
0.15226523391902447
|
| 279 |
+
],
|
| 280 |
+
"orientation": {
|
| 281 |
+
"w": 0.06495209848455578,
|
| 282 |
+
"xyz": [
|
| 283 |
+
0.9209688548339122,
|
| 284 |
+
-0.2684017580381435,
|
| 285 |
+
-0.27487831782517624
|
| 286 |
+
]
|
| 287 |
+
}
|
| 288 |
+
}
|
| 289 |
+
}
|
| 290 |
+
},
|
| 291 |
+
{
|
| 292 |
+
"part_name": "blossom end of pear",
|
| 293 |
+
"mask_color": "Blue",
|
| 294 |
+
"graspable": false,
|
| 295 |
+
"grasp_scenarios": [],
|
| 296 |
+
"functional_labels": [
|
| 297 |
+
"mark bottom orientation",
|
| 298 |
+
"remnant of flower end",
|
| 299 |
+
"surface feature"
|
| 300 |
+
],
|
| 301 |
+
"semantic_description": "Tiny dark recessed blossom remnant at the bottom of the pear, appearing dry and rough with a small star-like irregular shape.",
|
| 302 |
+
"id": 2,
|
| 303 |
+
"grasp_group": {}
|
| 304 |
+
}
|
| 305 |
+
],
|
| 306 |
+
"quality_check": {
|
| 307 |
+
"success": true,
|
| 308 |
+
"message": "YES"
|
| 309 |
+
}
|
| 310 |
+
}
|
dataset/food/fruits/e04fad3186575b67b250dd1684766ac1/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:30ae2fcbe0d840a393f941e158307639c5da342709de1068a0437c26af4099c2
|
| 3 |
+
size 3778276
|