Add asset food/ingredients/002600a16f2a5b839ce550cf4223a21e
Browse files
.gitattributes
CHANGED
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@@ -6767,3 +6767,4 @@ dataset/food/ingredients/0c1ff1b4da275912b33d04e79986d938/affordance/mesh_part_s
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| 6767 |
dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6768 |
dataset/food/fruits/ff4522ae215158ee887fee6c295e5c87/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6769 |
dataset/food/ingredients/12be18dbcec15d36881c47e9f6d0788e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6767 |
dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6768 |
dataset/food/fruits/ff4522ae215158ee887fee6c295e5c87/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6769 |
dataset/food/ingredients/12be18dbcec15d36881c47e9f6d0788e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6770 |
+
dataset/food/ingredients/002600a16f2a5b839ce550cf4223a21e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/ingredients/002600a16f2a5b839ce550cf4223a21e/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,400 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "main chili body",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main pepper body to pick up and move the chili",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize it during cutting or inspection",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"main grasp surface",
|
| 19 |
+
"contain edible flesh",
|
| 20 |
+
"support handling",
|
| 21 |
+
"provide bulk structure"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Long slender curved chili body with glossy smooth skin, showing mixed red, green, and pale white coloration, tapering to a pointed tip and forming most of the fruit.",
|
| 24 |
+
"id": 1,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_21": {
|
| 27 |
+
"confidence": 0.9916879534721375,
|
| 28 |
+
"position": [
|
| 29 |
+
0.10048975818790495,
|
| 30 |
+
0.0013385377824306488,
|
| 31 |
+
0.02114252559840679
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
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"w": 0.6877948445492786,
|
| 35 |
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"xyz": [
|
| 36 |
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-0.002511719793993736,
|
| 37 |
+
-0.7259005384316377,
|
| 38 |
+
0.0005927729478891823
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_25": {
|
| 43 |
+
"confidence": 0.9915447235107422,
|
| 44 |
+
"position": [
|
| 45 |
+
0.09951701783575118,
|
| 46 |
+
0.0011722440831363201,
|
| 47 |
+
0.0012496868148446083
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
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"w": 0.7545224143547244,
|
| 51 |
+
"xyz": [
|
| 52 |
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0.010061316739994596,
|
| 53 |
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-0.6561254727183139,
|
| 54 |
+
-0.009698463380603144
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_28": {
|
| 59 |
+
"confidence": 0.9912654757499695,
|
| 60 |
+
"position": [
|
| 61 |
+
0.09642681502737105,
|
| 62 |
+
-0.01641493383795023,
|
| 63 |
+
0.03306788858026266
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.6320275068115568,
|
| 67 |
+
"xyz": [
|
| 68 |
+
-0.056109196198929685,
|
| 69 |
+
-0.7719738426658314,
|
| 70 |
+
-0.038070657667396104
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_31": {
|
| 75 |
+
"confidence": 0.990998387336731,
|
| 76 |
+
"position": [
|
| 77 |
+
0.10193885886110365,
|
| 78 |
+
-0.00583257048856467,
|
| 79 |
+
0.011247151298448443
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.7248499369579621,
|
| 83 |
+
"xyz": [
|
| 84 |
+
-0.000251634742589886,
|
| 85 |
+
-0.6888385870393995,
|
| 86 |
+
-0.00969054062261397
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_34": {
|
| 91 |
+
"confidence": 0.9908389449119568,
|
| 92 |
+
"position": [
|
| 93 |
+
0.09509740793146193,
|
| 94 |
+
-0.028663847595453262,
|
| 95 |
+
0.025703790597617626
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.6497056408034451,
|
| 99 |
+
"xyz": [
|
| 100 |
+
-0.08007352265797849,
|
| 101 |
+
-0.745197291279632,
|
| 102 |
+
-0.12708976491766186
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_35": {
|
| 107 |
+
"confidence": 0.9905341863632202,
|
| 108 |
+
"position": [
|
| 109 |
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0.10073729627765715,
|
| 110 |
+
-0.019148437306284904,
|
| 111 |
+
0.01025099866092205
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
+
"w": 0.09158035718760192,
|
| 115 |
+
"xyz": [
|
| 116 |
+
-0.6910292187565059,
|
| 117 |
+
0.04930458638076929,
|
| 118 |
+
0.7153046307441232
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"grasp_37": {
|
| 123 |
+
"confidence": 0.9904026985168457,
|
| 124 |
+
"position": [
|
| 125 |
+
0.10289227985776961,
|
| 126 |
+
-0.00014656316488981247,
|
| 127 |
+
0.009867707267403603
|
| 128 |
+
],
|
| 129 |
+
"orientation": {
|
| 130 |
+
"w": 0.7243877623412663,
|
| 131 |
+
"xyz": [
|
| 132 |
+
0.012111762119142852,
|
| 133 |
+
-0.6892741470146222,
|
| 134 |
+
-0.004101858828323925
|
| 135 |
+
]
|
| 136 |
+
}
|
| 137 |
+
},
|
| 138 |
+
"grasp_38": {
|
| 139 |
+
"confidence": 0.9902378916740417,
|
| 140 |
+
"position": [
|
| 141 |
+
0.09848083578981459,
|
| 142 |
+
-0.01060956995934248,
|
| 143 |
+
0.036248563788831234
|
| 144 |
+
],
|
| 145 |
+
"orientation": {
|
| 146 |
+
"w": 0.6200627401559833,
|
| 147 |
+
"xyz": [
|
| 148 |
+
-0.0033087468622364957,
|
| 149 |
+
-0.7841580621131247,
|
| 150 |
+
-0.024645163571063045
|
| 151 |
+
]
|
| 152 |
+
}
|
| 153 |
+
}
|
| 154 |
+
}
|
| 155 |
+
},
|
| 156 |
+
{
|
| 157 |
+
"part_name": "shoulder near stem end",
|
| 158 |
+
"mask_color": "Blue",
|
| 159 |
+
"graspable": true,
|
| 160 |
+
"grasp_scenarios": [
|
| 161 |
+
{
|
| 162 |
+
"scenario": "grasp near the top shoulder to orient the chili for placement",
|
| 163 |
+
"confidence": 0.74
|
| 164 |
+
},
|
| 165 |
+
{
|
| 166 |
+
"scenario": "hold the shoulder to stabilize the chili while accessing the stem end",
|
| 167 |
+
"confidence": 0.69
|
| 168 |
+
}
|
| 169 |
+
],
|
| 170 |
+
"functional_labels": [
|
| 171 |
+
"connect body to stem area",
|
| 172 |
+
"support top structure",
|
| 173 |
+
"indicate top orientation",
|
| 174 |
+
"secondary grasp area"
|
| 175 |
+
],
|
| 176 |
+
"semantic_description": "Bulbous upper section near the stem end, slightly wider than the rest of the chili, with smooth glossy skin and mixed green, red, and pale white coloration.",
|
| 177 |
+
"id": 2,
|
| 178 |
+
"grasp_group": {
|
| 179 |
+
"grasp_40": {
|
| 180 |
+
"confidence": 0.9791163802146912,
|
| 181 |
+
"position": [
|
| 182 |
+
0.07619007700122893,
|
| 183 |
+
0.07971506379544735,
|
| 184 |
+
0.028521248139441013
|
| 185 |
+
],
|
| 186 |
+
"orientation": {
|
| 187 |
+
"w": 0.2755120343404754,
|
| 188 |
+
"xyz": [
|
| 189 |
+
0.7374496313545835,
|
| 190 |
+
0.1707488047147565,
|
| 191 |
+
-0.5925419865604828
|
| 192 |
+
]
|
| 193 |
+
}
|
| 194 |
+
},
|
| 195 |
+
"grasp_41": {
|
| 196 |
+
"confidence": 0.9708243608474731,
|
| 197 |
+
"position": [
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"semantic_description": "Thin green collar-like calyx at the base of the stem, slightly matte and firmer than the fruit skin, visible as a narrow band between the stem-end shoulder and stem.",
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"success": true,
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"message": "YES"
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dataset/food/ingredients/002600a16f2a5b839ce550cf4223a21e/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 111322496
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dataset/food/ingredients/002600a16f2a5b839ce550cf4223a21e/capsicum_001.urdf
CHANGED
|
@@ -52,6 +52,7 @@
|
|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
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|
| 55 |
</affordance>
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| 56 |
<quality>
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| 57 |
<PartSegChecker>YES</PartSegChecker>
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|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
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| 55 |
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
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| 56 |
</affordance>
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| 57 |
<quality>
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| 58 |
<PartSegChecker>YES</PartSegChecker>
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