Add asset food/fruits/92925b91411b5b29bd6e2cef8e94fa15
Browse files
.gitattributes
CHANGED
|
@@ -8299,3 +8299,4 @@ dataset/food/fruits/8a6b23d9180d581dbdd15e5079de7bd2/affordance/mesh_part_seg.gl
|
|
| 8299 |
dataset/food/fruits/8a8627a32e63500f8e0d0940e705f8bb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8300 |
dataset/food/fruits/8b8e5dcc879e5569beb32a12ff7cf488/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8301 |
dataset/food/fruits/8d9fed7dc3325c31a7d1b561f4a21245/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 8299 |
dataset/food/fruits/8a8627a32e63500f8e0d0940e705f8bb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8300 |
dataset/food/fruits/8b8e5dcc879e5569beb32a12ff7cf488/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8301 |
dataset/food/fruits/8d9fed7dc3325c31a7d1b561f4a21245/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8302 |
+
dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,418 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "body of strawberry",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the strawberry body to pick up and move the fruit",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the fruit body to stabilize it during inspection or placement",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"main grasp surface",
|
| 19 |
+
"contain edible flesh",
|
| 20 |
+
"provide bulk of the fruit",
|
| 21 |
+
"support eating"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large rounded conical strawberry body with very pale pink to white food skin, a slightly glossy smooth surface, fine seed dimples, and a firm fleshy texture forming most of the fruit below the top.",
|
| 24 |
+
"id": 1,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_20": {
|
| 27 |
+
"confidence": 0.969738245010376,
|
| 28 |
+
"position": [
|
| 29 |
+
0.036388834414537996,
|
| 30 |
+
-0.09337168489582837,
|
| 31 |
+
0.041701143607497215
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.2794940275131278,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.105932239375943,
|
| 37 |
+
-0.8332300522597885,
|
| 38 |
+
-0.4651764495935276
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_21": {
|
| 43 |
+
"confidence": 0.9681379199028015,
|
| 44 |
+
"position": [
|
| 45 |
+
0.041950011102017015,
|
| 46 |
+
-0.09750733827240765,
|
| 47 |
+
0.032591963186860085
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.506049065887977,
|
| 51 |
+
"xyz": [
|
| 52 |
+
-0.8023037761901,
|
| 53 |
+
0.09584986998094092,
|
| 54 |
+
0.30172138812097676
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_22": {
|
| 59 |
+
"confidence": 0.9675272107124329,
|
| 60 |
+
"position": [
|
| 61 |
+
0.04485667258268222,
|
| 62 |
+
-0.0916178107727319,
|
| 63 |
+
0.03586548753082752
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.48267324998634564,
|
| 67 |
+
"xyz": [
|
| 68 |
+
-0.8239279487716928,
|
| 69 |
+
0.04987207769049529,
|
| 70 |
+
0.29271495494306843
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_23": {
|
| 75 |
+
"confidence": 0.9664326310157776,
|
| 76 |
+
"position": [
|
| 77 |
+
0.05204993620282039,
|
| 78 |
+
-0.09231131826527417,
|
| 79 |
+
0.026365231722593307
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.5018094892246161,
|
| 83 |
+
"xyz": [
|
| 84 |
+
-0.7885333232101768,
|
| 85 |
+
0.06537327559156025,
|
| 86 |
+
0.3494692683909054
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_24": {
|
| 91 |
+
"confidence": 0.9643429517745972,
|
| 92 |
+
"position": [
|
| 93 |
+
0.04929071053629741,
|
| 94 |
+
-0.08875287626869977,
|
| 95 |
+
0.034347282722592354
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.476095069235037,
|
| 99 |
+
"xyz": [
|
| 100 |
+
-0.810349658128589,
|
| 101 |
+
0.07486838761361791,
|
| 102 |
+
0.3332591201409222
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_25": {
|
| 107 |
+
"confidence": 0.9634961485862732,
|
| 108 |
+
"position": [
|
| 109 |
+
0.02809995732968673,
|
| 110 |
+
-0.0886159420479089,
|
| 111 |
+
0.054903095588088036
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
+
"w": 0.19825210912956528,
|
| 115 |
+
"xyz": [
|
| 116 |
+
-0.06439601655750653,
|
| 117 |
+
-0.8702246162911524,
|
| 118 |
+
-0.4463836595106504
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"grasp_26": {
|
| 123 |
+
"confidence": 0.9615480899810791,
|
| 124 |
+
"position": [
|
| 125 |
+
0.05036316573387012,
|
| 126 |
+
-0.08020202373154461,
|
| 127 |
+
0.05399889312684536
|
| 128 |
+
],
|
| 129 |
+
"orientation": {
|
| 130 |
+
"w": 0.4265752915573703,
|
| 131 |
+
"xyz": [
|
| 132 |
+
-0.8544873592519684,
|
| 133 |
+
0.04541898778809217,
|
| 134 |
+
0.29295390261890547
|
| 135 |
+
]
|
| 136 |
+
}
|
| 137 |
+
},
|
| 138 |
+
"grasp_27": {
|
| 139 |
+
"confidence": 0.9615474343299866,
|
| 140 |
+
"position": [
|
| 141 |
+
0.03065096348291263,
|
| 142 |
+
-0.08849829738028347,
|
| 143 |
+
0.05120917968451977
|
| 144 |
+
],
|
| 145 |
+
"orientation": {
|
| 146 |
+
"w": 0.45175803551891003,
|
| 147 |
+
"xyz": [
|
| 148 |
+
-0.84602449473464,
|
| 149 |
+
0.13463204195216583,
|
| 150 |
+
0.24906112690037052
|
| 151 |
+
]
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"grasp_28": {
|
| 155 |
+
"confidence": 0.9615136981010437,
|
| 156 |
+
"position": [
|
| 157 |
+
-0.030536743404809386,
|
| 158 |
+
0.03995127300731838,
|
| 159 |
+
-0.09054090268909931
|
| 160 |
+
],
|
| 161 |
+
"orientation": {
|
| 162 |
+
"w": 0.9644689691387703,
|
| 163 |
+
"xyz": [
|
| 164 |
+
0.1966094908869176,
|
| 165 |
+
0.173038301654865,
|
| 166 |
+
-0.03467076321606546
|
| 167 |
+
]
|
| 168 |
+
}
|
| 169 |
+
},
|
| 170 |
+
"grasp_29": {
|
| 171 |
+
"confidence": 0.9612348675727844,
|
| 172 |
+
"position": [
|
| 173 |
+
0.043330082145985216,
|
| 174 |
+
-0.10076308553107083,
|
| 175 |
+
0.024551091715693474
|
| 176 |
+
],
|
| 177 |
+
"orientation": {
|
| 178 |
+
"w": 0.5587108696893093,
|
| 179 |
+
"xyz": [
|
| 180 |
+
-0.78581229902951,
|
| 181 |
+
0.0177325957282064,
|
| 182 |
+
0.2646256787118577
|
| 183 |
+
]
|
| 184 |
+
}
|
| 185 |
+
},
|
| 186 |
+
"grasp_32": {
|
| 187 |
+
"confidence": 0.960024893283844,
|
| 188 |
+
"position": [
|
| 189 |
+
0.028912469220813364,
|
| 190 |
+
-0.09536319528706372,
|
| 191 |
+
0.040043966844677925
|
| 192 |
+
],
|
| 193 |
+
"orientation": {
|
| 194 |
+
"w": 0.4896513442276675,
|
| 195 |
+
"xyz": [
|
| 196 |
+
-0.8170441464849928,
|
| 197 |
+
0.1549212762446508,
|
| 198 |
+
0.262068353597638
|
| 199 |
+
]
|
| 200 |
+
}
|
| 201 |
+
},
|
| 202 |
+
"grasp_33": {
|
| 203 |
+
"confidence": 0.9593613743782043,
|
| 204 |
+
"position": [
|
| 205 |
+
0.03315068542724475,
|
| 206 |
+
-0.09006695752032101,
|
| 207 |
+
0.055208539590239525
|
| 208 |
+
],
|
| 209 |
+
"orientation": {
|
| 210 |
+
"w": 0.43938832295100827,
|
| 211 |
+
"xyz": [
|
| 212 |
+
-0.8681147478015444,
|
| 213 |
+
0.06809647595249468,
|
| 214 |
+
0.22062990791507137
|
| 215 |
+
]
|
| 216 |
+
}
|
| 217 |
+
},
|
| 218 |
+
"grasp_34": {
|
| 219 |
+
"confidence": 0.958590030670166,
|
| 220 |
+
"position": [
|
| 221 |
+
0.03921165451174602,
|
| 222 |
+
0.0036626792571041733,
|
| 223 |
+
-0.10577554441988468
|
| 224 |
+
],
|
| 225 |
+
"orientation": {
|
| 226 |
+
"w": 0.9648583584806757,
|
| 227 |
+
"xyz": [
|
| 228 |
+
0.06640661513639737,
|
| 229 |
+
-0.16087176338929243,
|
| 230 |
+
-0.19687251021948798
|
| 231 |
+
]
|
| 232 |
+
}
|
| 233 |
+
},
|
| 234 |
+
"grasp_35": {
|
| 235 |
+
"confidence": 0.9584179520606995,
|
| 236 |
+
"position": [
|
| 237 |
+
0.024377116409596056,
|
| 238 |
+
-0.089218306588009,
|
| 239 |
+
0.0566266905516386
|
| 240 |
+
],
|
| 241 |
+
"orientation": {
|
| 242 |
+
"w": 0.188147320960399,
|
| 243 |
+
"xyz": [
|
| 244 |
+
-0.08874266085597518,
|
| 245 |
+
-0.8775761490948857,
|
| 246 |
+
-0.4319553545210623
|
| 247 |
+
]
|
| 248 |
+
}
|
| 249 |
+
},
|
| 250 |
+
"grasp_36": {
|
| 251 |
+
"confidence": 0.957684338092804,
|
| 252 |
+
"position": [
|
| 253 |
+
0.03836449369555339,
|
| 254 |
+
-0.09170300071127713,
|
| 255 |
+
0.04442490451037884
|
| 256 |
+
],
|
| 257 |
+
"orientation": {
|
| 258 |
+
"w": 0.193648508994866,
|
| 259 |
+
"xyz": [
|
| 260 |
+
0.034942573250735603,
|
| 261 |
+
-0.8469367544517145,
|
| 262 |
+
-0.49394069026298887
|
| 263 |
+
]
|
| 264 |
+
}
|
| 265 |
+
},
|
| 266 |
+
"grasp_37": {
|
| 267 |
+
"confidence": 0.9570704102516174,
|
| 268 |
+
"position": [
|
| 269 |
+
-0.04961199179524556,
|
| 270 |
+
-0.06610433314926922,
|
| 271 |
+
0.07615914009511471
|
| 272 |
+
],
|
| 273 |
+
"orientation": {
|
| 274 |
+
"w": 0.3539604406108412,
|
| 275 |
+
"xyz": [
|
| 276 |
+
-0.904538451420829,
|
| 277 |
+
0.13455744013293364,
|
| 278 |
+
-0.19600125430379264
|
| 279 |
+
]
|
| 280 |
+
}
|
| 281 |
+
}
|
| 282 |
+
}
|
| 283 |
+
},
|
| 284 |
+
{
|
| 285 |
+
"part_name": "calyx leaves",
|
| 286 |
+
"mask_color": "Red",
|
| 287 |
+
"graspable": true,
|
| 288 |
+
"grasp_scenarios": [
|
| 289 |
+
{
|
| 290 |
+
"scenario": "delicately pinch the calyx leaves to orient the strawberry",
|
| 291 |
+
"confidence": 0.32
|
| 292 |
+
},
|
| 293 |
+
{
|
| 294 |
+
"scenario": "hold the leafy top to stabilize the fruit during careful manipulation",
|
| 295 |
+
"confidence": 0.24
|
| 296 |
+
}
|
| 297 |
+
],
|
| 298 |
+
"functional_labels": [
|
| 299 |
+
"protect the top of the fruit",
|
| 300 |
+
"cover the stem attachment area",
|
| 301 |
+
"indicate top orientation",
|
| 302 |
+
"provide limited pinch point"
|
| 303 |
+
],
|
| 304 |
+
"semantic_description": "Thin green leafy calyx with matte soft plant tissue, slightly veined surfaces, and pointed lobes spread around the top of the strawberry.",
|
| 305 |
+
"id": 0,
|
| 306 |
+
"grasp_group": {
|
| 307 |
+
"grasp_0": {
|
| 308 |
+
"confidence": 0.7657269835472107,
|
| 309 |
+
"position": [
|
| 310 |
+
0.0674869729555212,
|
| 311 |
+
0.1044460057746619,
|
| 312 |
+
-0.00050356425344944
|
| 313 |
+
],
|
| 314 |
+
"orientation": {
|
| 315 |
+
"w": 0.7405922196738893,
|
| 316 |
+
"xyz": [
|
| 317 |
+
0.5959490579541263,
|
| 318 |
+
-0.2629230826697825,
|
| 319 |
+
-0.16504343998326598
|
| 320 |
+
]
|
| 321 |
+
}
|
| 322 |
+
},
|
| 323 |
+
"grasp_2": {
|
| 324 |
+
"confidence": 0.7899360060691833,
|
| 325 |
+
"position": [
|
| 326 |
+
-0.054364843817893416,
|
| 327 |
+
0.09411973948590457,
|
| 328 |
+
0.05889336206018925
|
| 329 |
+
],
|
| 330 |
+
"orientation": {
|
| 331 |
+
"w": 0.5658357668810047,
|
| 332 |
+
"xyz": [
|
| 333 |
+
0.6630263135364752,
|
| 334 |
+
0.4901280096582349,
|
| 335 |
+
0.0007256892405249321
|
| 336 |
+
]
|
| 337 |
+
}
|
| 338 |
+
},
|
| 339 |
+
"grasp_8": {
|
| 340 |
+
"confidence": 0.7704823613166809,
|
| 341 |
+
"position": [
|
| 342 |
+
-0.039038019778672606,
|
| 343 |
+
0.11377915437333286,
|
| 344 |
+
0.04292110912501812
|
| 345 |
+
],
|
| 346 |
+
"orientation": {
|
| 347 |
+
"w": 0.6076066373849192,
|
| 348 |
+
"xyz": [
|
| 349 |
+
0.6830957203362189,
|
| 350 |
+
0.3960021602592323,
|
| 351 |
+
-0.08588771817992953
|
| 352 |
+
]
|
| 353 |
+
}
|
| 354 |
+
},
|
| 355 |
+
"grasp_11": {
|
| 356 |
+
"confidence": 0.7259562015533447,
|
| 357 |
+
"position": [
|
| 358 |
+
0.03939461096888408,
|
| 359 |
+
0.10554639692418277,
|
| 360 |
+
0.06184160150587559
|
| 361 |
+
],
|
| 362 |
+
"orientation": {
|
| 363 |
+
"w": 0.5547624622878237,
|
| 364 |
+
"xyz": [
|
| 365 |
+
0.802286118688434,
|
| 366 |
+
-0.21798524737275116,
|
| 367 |
+
-0.03252731350787183
|
| 368 |
+
]
|
| 369 |
+
}
|
| 370 |
+
},
|
| 371 |
+
"grasp_18": {
|
| 372 |
+
"confidence": 0.9135749936103821,
|
| 373 |
+
"position": [
|
| 374 |
+
-0.03812228381866589,
|
| 375 |
+
0.07374952430836856,
|
| 376 |
+
0.0964497234672308
|
| 377 |
+
],
|
| 378 |
+
"orientation": {
|
| 379 |
+
"w": 0.09239418379356085,
|
| 380 |
+
"xyz": [
|
| 381 |
+
0.6421661751012882,
|
| 382 |
+
-0.6757662793286219,
|
| 383 |
+
0.34989406122318556
|
| 384 |
+
]
|
| 385 |
+
}
|
| 386 |
+
}
|
| 387 |
+
}
|
| 388 |
+
},
|
| 389 |
+
{
|
| 390 |
+
"part_name": "stem of strawberry",
|
| 391 |
+
"mask_color": "Blue",
|
| 392 |
+
"graspable": true,
|
| 393 |
+
"grasp_scenarios": [
|
| 394 |
+
{
|
| 395 |
+
"scenario": "delicately grasp the stem to orient or sort the strawberry",
|
| 396 |
+
"confidence": 0.29
|
| 397 |
+
},
|
| 398 |
+
{
|
| 399 |
+
"scenario": "lift the strawberry by the stem in a careful harvesting-style motion",
|
| 400 |
+
"confidence": 0.16
|
| 401 |
+
}
|
| 402 |
+
],
|
| 403 |
+
"functional_labels": [
|
| 404 |
+
"connect fruit to plant",
|
| 405 |
+
"indicate top orientation",
|
| 406 |
+
"enable careful plucking",
|
| 407 |
+
"provide a small manipulation point"
|
| 408 |
+
],
|
| 409 |
+
"semantic_description": "Small short green stem with a slightly darker tip, matte plant-like surface, and a firm slender cylindrical shape protruding from the center of the leafy top.",
|
| 410 |
+
"id": 2,
|
| 411 |
+
"grasp_group": {}
|
| 412 |
+
}
|
| 413 |
+
],
|
| 414 |
+
"quality_check": {
|
| 415 |
+
"success": true,
|
| 416 |
+
"message": "YES"
|
| 417 |
+
}
|
| 418 |
+
}
|
dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6ab685dcfd21d8bdb8dd33b801defb26563be82833022f58140f4d55f75bdbab
|
| 3 |
+
size 3778064
|