Add asset food/fruits/e50ae9f8df2d5678a645e314cc98ad8c
Browse files
.gitattributes
CHANGED
|
@@ -6750,3 +6750,4 @@ dataset/food/fruits/d9ddfc005fde5fd0b130af2144091198/affordance/mesh_part_seg.gl
|
|
| 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
|
|
|
|
|
|
| 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
|
| 6753 |
+
dataset/food/fruits/e50ae9f8df2d5678a645e314cc98ad8c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/food/fruits/e50ae9f8df2d5678a645e314cc98ad8c/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,294 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "body of orange",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the orange body to pick up and transport the fruit",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the orange body to stabilize it during inspection or sorting",
|
| 14 |
+
"confidence": 0.94
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the orange body for placement into a container or on a surface",
|
| 18 |
+
"confidence": 0.95
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"contain edible flesh",
|
| 24 |
+
"support peeling and cutting",
|
| 25 |
+
"enable rolling and repositioning",
|
| 26 |
+
"provide fruit body for handling"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large rounded orange body with bright orange food skin, a matte to slightly satin finish, fine pebbled citrus texture, and a nearly spherical shape with small stem and blossom dimples at the poles.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_1": {
|
| 32 |
+
"confidence": 0.9742202162742615,
|
| 33 |
+
"position": [
|
| 34 |
+
0.01129275985294953,
|
| 35 |
+
0.11463683214969933,
|
| 36 |
+
0.0007413963758153841
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.5641170425599514,
|
| 40 |
+
"xyz": [
|
| 41 |
+
0.5088261734732935,
|
| 42 |
+
-0.48776000131687924,
|
| 43 |
+
0.4300675163242368
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_2": {
|
| 48 |
+
"confidence": 0.9733526110649109,
|
| 49 |
+
"position": [
|
| 50 |
+
0.048051448131445795,
|
| 51 |
+
0.10201559332199395,
|
| 52 |
+
-0.0033654398866929114
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.3756866812266968,
|
| 56 |
+
"xyz": [
|
| 57 |
+
0.5887970800312196,
|
| 58 |
+
0.37336852805476817,
|
| 59 |
+
-0.6105517654988772
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_3": {
|
| 64 |
+
"confidence": 0.9732868075370789,
|
| 65 |
+
"position": [
|
| 66 |
+
-0.05511958751594648,
|
| 67 |
+
0.10064300266094506,
|
| 68 |
+
0.00908592896303162
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.5669792832430931,
|
| 72 |
+
"xyz": [
|
| 73 |
+
0.3083883278508926,
|
| 74 |
+
0.6629664493962837,
|
| 75 |
+
-0.37935025845959713
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_4": {
|
| 80 |
+
"confidence": 0.9724968671798706,
|
| 81 |
+
"position": [
|
| 82 |
+
0.0462407335289754,
|
| 83 |
+
0.09927246090956032,
|
| 84 |
+
0.013840222673024982
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.5801154597646216,
|
| 88 |
+
"xyz": [
|
| 89 |
+
0.4248401209312586,
|
| 90 |
+
-0.612506150747208,
|
| 91 |
+
0.32834911342355305
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_5": {
|
| 96 |
+
"confidence": 0.9720455408096313,
|
| 97 |
+
"position": [
|
| 98 |
+
0.003888366569299251,
|
| 99 |
+
0.11385014024563134,
|
| 100 |
+
0.00046718434896320105
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.5037926843603897,
|
| 104 |
+
"xyz": [
|
| 105 |
+
0.5130568881293491,
|
| 106 |
+
0.49675974803166545,
|
| 107 |
+
-0.4859992936862129
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_6": {
|
| 112 |
+
"confidence": 0.9716688990592957,
|
| 113 |
+
"position": [
|
| 114 |
+
0.1084621972986497,
|
| 115 |
+
-0.00012930287630297244,
|
| 116 |
+
0.0001130833406932652
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.02891693148615366,
|
| 120 |
+
"xyz": [
|
| 121 |
+
0.7076841768521168,
|
| 122 |
+
-0.011533306725740378,
|
| 123 |
+
-0.7058426876737737
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_7": {
|
| 128 |
+
"confidence": 0.9712917804718018,
|
| 129 |
+
"position": [
|
| 130 |
+
0.0202511340030469,
|
| 131 |
+
0.1082604241091758,
|
| 132 |
+
-0.004378463665489107
|
| 133 |
+
],
|
| 134 |
+
"orientation": {
|
| 135 |
+
"w": 0.4382066938994026,
|
| 136 |
+
"xyz": [
|
| 137 |
+
0.5192312851238503,
|
| 138 |
+
0.4556818175387125,
|
| 139 |
+
-0.5750894253374905
|
| 140 |
+
]
|
| 141 |
+
}
|
| 142 |
+
},
|
| 143 |
+
"grasp_8": {
|
| 144 |
+
"confidence": 0.9710554480552673,
|
| 145 |
+
"position": [
|
| 146 |
+
-0.00044836028246209025,
|
| 147 |
+
0.11089736339636147,
|
| 148 |
+
-0.0035562050179578364
|
| 149 |
+
],
|
| 150 |
+
"orientation": {
|
| 151 |
+
"w": 0.5170382020605963,
|
| 152 |
+
"xyz": [
|
| 153 |
+
0.4996601109404293,
|
| 154 |
+
0.48970779694983946,
|
| 155 |
+
-0.4931506308943332
|
| 156 |
+
]
|
| 157 |
+
}
|
| 158 |
+
},
|
| 159 |
+
"grasp_9": {
|
| 160 |
+
"confidence": 0.9709728360176086,
|
| 161 |
+
"position": [
|
| 162 |
+
0.04298548918450251,
|
| 163 |
+
0.10650336858816445,
|
| 164 |
+
0.007496434671338648
|
| 165 |
+
],
|
| 166 |
+
"orientation": {
|
| 167 |
+
"w": 0.39340877903851107,
|
| 168 |
+
"xyz": [
|
| 169 |
+
0.6195839412504539,
|
| 170 |
+
0.3847014386461274,
|
| 171 |
+
-0.5597768085796175
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
},
|
| 175 |
+
"grasp_10": {
|
| 176 |
+
"confidence": 0.9706148505210876,
|
| 177 |
+
"position": [
|
| 178 |
+
-0.008737964031752199,
|
| 179 |
+
0.11209535715170205,
|
| 180 |
+
-0.0030670874402858317
|
| 181 |
+
],
|
| 182 |
+
"orientation": {
|
| 183 |
+
"w": 0.5856032367136146,
|
| 184 |
+
"xyz": [
|
| 185 |
+
0.5346117637615627,
|
| 186 |
+
0.45490180709047157,
|
| 187 |
+
-0.40536829809953423
|
| 188 |
+
]
|
| 189 |
+
}
|
| 190 |
+
},
|
| 191 |
+
"grasp_11": {
|
| 192 |
+
"confidence": 0.9703570008277893,
|
| 193 |
+
"position": [
|
| 194 |
+
0.05064138170564547,
|
| 195 |
+
0.10035885986872017,
|
| 196 |
+
-0.0018170024850405753
|
| 197 |
+
],
|
| 198 |
+
"orientation": {
|
| 199 |
+
"w": 0.3665860459669016,
|
| 200 |
+
"xyz": [
|
| 201 |
+
0.5942237324403988,
|
| 202 |
+
0.3716303587597568,
|
| 203 |
+
-0.6118853676588849
|
| 204 |
+
]
|
| 205 |
+
}
|
| 206 |
+
},
|
| 207 |
+
"grasp_13": {
|
| 208 |
+
"confidence": 0.969925045967102,
|
| 209 |
+
"position": [
|
| 210 |
+
-0.005925502104219049,
|
| 211 |
+
0.11181829241104424,
|
| 212 |
+
0.0007267694163601846
|
| 213 |
+
],
|
| 214 |
+
"orientation": {
|
| 215 |
+
"w": 0.5105360860137237,
|
| 216 |
+
"xyz": [
|
| 217 |
+
0.49373408939045477,
|
| 218 |
+
0.5189830082272949,
|
| 219 |
+
-0.47564292386507095
|
| 220 |
+
]
|
| 221 |
+
}
|
| 222 |
+
},
|
| 223 |
+
"grasp_14": {
|
| 224 |
+
"confidence": 0.9681506156921387,
|
| 225 |
+
"position": [
|
| 226 |
+
0.08942282717907801,
|
| 227 |
+
0.05929073807783425,
|
| 228 |
+
0.022817308956291527
|
| 229 |
+
],
|
| 230 |
+
"orientation": {
|
| 231 |
+
"w": 0.6097277020661099,
|
| 232 |
+
"xyz": [
|
| 233 |
+
0.25637196783549226,
|
| 234 |
+
-0.7346857763589729,
|
| 235 |
+
0.1508056811169648
|
| 236 |
+
]
|
| 237 |
+
}
|
| 238 |
+
},
|
| 239 |
+
"grasp_15": {
|
| 240 |
+
"confidence": 0.9680096507072449,
|
| 241 |
+
"position": [
|
| 242 |
+
0.09487899165833369,
|
| 243 |
+
0.055508409859612584,
|
| 244 |
+
0.011514615209307522
|
| 245 |
+
],
|
| 246 |
+
"orientation": {
|
| 247 |
+
"w": 0.6517527814799077,
|
| 248 |
+
"xyz": [
|
| 249 |
+
0.22474198314369073,
|
| 250 |
+
-0.7128917175768875,
|
| 251 |
+
0.128431895789637
|
| 252 |
+
]
|
| 253 |
+
}
|
| 254 |
+
},
|
| 255 |
+
"grasp_18": {
|
| 256 |
+
"confidence": 0.966977059841156,
|
| 257 |
+
"position": [
|
| 258 |
+
0.09438393783057109,
|
| 259 |
+
0.05424554762430489,
|
| 260 |
+
0.018451827520038933
|
| 261 |
+
],
|
| 262 |
+
"orientation": {
|
| 263 |
+
"w": 0.6238270557944442,
|
| 264 |
+
"xyz": [
|
| 265 |
+
0.2038880270438862,
|
| 266 |
+
-0.7386847649979066,
|
| 267 |
+
0.1536694336781865
|
| 268 |
+
]
|
| 269 |
+
}
|
| 270 |
+
},
|
| 271 |
+
"grasp_19": {
|
| 272 |
+
"confidence": 0.9668771624565125,
|
| 273 |
+
"position": [
|
| 274 |
+
-0.011854205687996,
|
| 275 |
+
0.10996500519104302,
|
| 276 |
+
0.0026255762786604464
|
| 277 |
+
],
|
| 278 |
+
"orientation": {
|
| 279 |
+
"w": 0.4286855220883648,
|
| 280 |
+
"xyz": [
|
| 281 |
+
0.4895312347249175,
|
| 282 |
+
-0.5159552029940114,
|
| 283 |
+
0.5571158962764684
|
| 284 |
+
]
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
}
|
| 288 |
+
}
|
| 289 |
+
],
|
| 290 |
+
"quality_check": {
|
| 291 |
+
"success": true,
|
| 292 |
+
"message": "YES"
|
| 293 |
+
}
|
| 294 |
+
}
|
dataset/food/fruits/e50ae9f8df2d5678a645e314cc98ad8c/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8c5a07988f537a5e803ef2ce2bbd930d07c967852d464150867b07dc5d657d7d
|
| 3 |
+
size 2144864
|