Add asset food/ingredients/81ea292188735ebc909facc0c22e657b
Browse files
.gitattributes
CHANGED
|
@@ -6795,3 +6795,4 @@ dataset/food/ingredients/605414d9b68d5f36a1fdd2ac0baad5d5/affordance/mesh_part_s
|
|
| 6795 |
dataset/food/ingredients/618f3f5a1f5553a2ad85f94abe7926ad/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6796 |
dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6797 |
dataset/food/ingredients/7f000056f3b05094b2e41bcc328b8594/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 6795 |
dataset/food/ingredients/618f3f5a1f5553a2ad85f94abe7926ad/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6796 |
dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6797 |
dataset/food/ingredients/7f000056f3b05094b2e41bcc328b8594/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6798 |
+
dataset/food/ingredients/81ea292188735ebc909facc0c22e657b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/food/ingredients/81ea292188735ebc909facc0c22e657b/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,339 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "chili pepper body",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the chili body around its thicker middle to pick up the pepper",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize the pepper during cutting or inspection",
|
| 14 |
+
"confidence": 0.91
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pinch the narrower tapered section near the tip for reorientation",
|
| 18 |
+
"confidence": 0.7
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"contain edible flesh and seeds",
|
| 24 |
+
"support handling",
|
| 25 |
+
"provide overall shape",
|
| 26 |
+
"stabilize during food preparation"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Long slender red chili pepper body with glossy smooth skin, slightly curved shape, broader rounded shoulder near the stem, and a narrow pointed tip.",
|
| 29 |
+
"id": 1,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_20": {
|
| 32 |
+
"confidence": 0.9890865087509155,
|
| 33 |
+
"position": [
|
| 34 |
+
-0.02314629266038537,
|
| 35 |
+
-0.0968358802201692,
|
| 36 |
+
-0.01052792277187109
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.5197415817621142,
|
| 40 |
+
"xyz": [
|
| 41 |
+
-0.47315306700619336,
|
| 42 |
+
-0.40383377240047313,
|
| 43 |
+
-0.5855878650030676
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_21": {
|
| 48 |
+
"confidence": 0.9879844188690186,
|
| 49 |
+
"position": [
|
| 50 |
+
-0.04712289059534669,
|
| 51 |
+
-0.0900232034327928,
|
| 52 |
+
-0.008332998491823673
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.663513550733918,
|
| 56 |
+
"xyz": [
|
| 57 |
+
-0.33720413626224904,
|
| 58 |
+
0.5412299600178692,
|
| 59 |
+
0.3912969062734257
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_22": {
|
| 64 |
+
"confidence": 0.9873988628387451,
|
| 65 |
+
"position": [
|
| 66 |
+
-0.028569272253662348,
|
| 67 |
+
-0.09906931096338667,
|
| 68 |
+
0.0037347832694649696
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.5600492576716681,
|
| 72 |
+
"xyz": [
|
| 73 |
+
-0.43227762105851414,
|
| 74 |
+
0.5287670527682721,
|
| 75 |
+
0.46892034634910024
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_29": {
|
| 80 |
+
"confidence": 0.9847815036773682,
|
| 81 |
+
"position": [
|
| 82 |
+
-0.047599578741937876,
|
| 83 |
+
-0.08668620014213957,
|
| 84 |
+
-0.009212655015289783
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.4650516516204842,
|
| 88 |
+
"xyz": [
|
| 89 |
+
-0.5827899997213901,
|
| 90 |
+
-0.22941334361111876,
|
| 91 |
+
-0.6256614862071731
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_36": {
|
| 96 |
+
"confidence": 0.9845625758171082,
|
| 97 |
+
"position": [
|
| 98 |
+
-0.04034280637279153,
|
| 99 |
+
-0.09106558436178602,
|
| 100 |
+
0.01061126612512453
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.3373514276412776,
|
| 104 |
+
"xyz": [
|
| 105 |
+
-0.5793384261574063,
|
| 106 |
+
-0.39340686753396714,
|
| 107 |
+
-0.6291200512008527
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_38": {
|
| 112 |
+
"confidence": 0.9842790961265564,
|
| 113 |
+
"position": [
|
| 114 |
+
-0.04388551274314523,
|
| 115 |
+
-0.0847678619029466,
|
| 116 |
+
-0.02156230714172125
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.3904033002839781,
|
| 120 |
+
"xyz": [
|
| 121 |
+
-0.4856025441339769,
|
| 122 |
+
-0.322583043746536,
|
| 123 |
+
-0.7125416564280346
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_39": {
|
| 128 |
+
"confidence": 0.9842529892921448,
|
| 129 |
+
"position": [
|
| 130 |
+
-0.023983410093933344,
|
| 131 |
+
-0.10026290887617506,
|
| 132 |
+
0.013463016832247376
|
| 133 |
+
],
|
| 134 |
+
"orientation": {
|
| 135 |
+
"w": 0.5231940541480447,
|
| 136 |
+
"xyz": [
|
| 137 |
+
-0.45952229142166234,
|
| 138 |
+
0.5428366063906709,
|
| 139 |
+
0.46950576583570997
|
| 140 |
+
]
|
| 141 |
+
}
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
},
|
| 145 |
+
{
|
| 146 |
+
"part_name": "stem and calyx",
|
| 147 |
+
"mask_color": "Red",
|
| 148 |
+
"graspable": true,
|
| 149 |
+
"grasp_scenarios": [
|
| 150 |
+
{
|
| 151 |
+
"scenario": "delicately grasp the stem area to orient the chili",
|
| 152 |
+
"confidence": 0.38
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"scenario": "lightly hold the stem and calyx while inspecting the pepper",
|
| 156 |
+
"confidence": 0.3
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"scenario": "briefly lift the chili by the stem for transfer",
|
| 160 |
+
"confidence": 0.16
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"functional_labels": [
|
| 164 |
+
"connect to plant",
|
| 165 |
+
"indicate top orientation",
|
| 166 |
+
"provide a small manipulation point",
|
| 167 |
+
"attach to the pepper body"
|
| 168 |
+
],
|
| 169 |
+
"semantic_description": "Small green stem and calyx at the broad top of the chili, with a matte slightly rough fibrous texture and short protruding stalk.",
|
| 170 |
+
"id": 0,
|
| 171 |
+
"grasp_group": {
|
| 172 |
+
"grasp_0": {
|
| 173 |
+
"confidence": 0.9000378847122192,
|
| 174 |
+
"position": [
|
| 175 |
+
-0.12403834471479058,
|
| 176 |
+
-0.012421776220435277,
|
| 177 |
+
0.0039353142492473125
|
| 178 |
+
],
|
| 179 |
+
"orientation": {
|
| 180 |
+
"w": 0.6128866314823499,
|
| 181 |
+
"xyz": [
|
| 182 |
+
-0.4266390737618884,
|
| 183 |
+
0.519874030347947,
|
| 184 |
+
-0.4148253491044128
|
| 185 |
+
]
|
| 186 |
+
}
|
| 187 |
+
},
|
| 188 |
+
"grasp_4": {
|
| 189 |
+
"confidence": 0.8436933755874634,
|
| 190 |
+
"position": [
|
| 191 |
+
-0.11334492126479745,
|
| 192 |
+
0.023771987616783008,
|
| 193 |
+
0.05384362582117319
|
| 194 |
+
],
|
| 195 |
+
"orientation": {
|
| 196 |
+
"w": 0.5469074168541389,
|
| 197 |
+
"xyz": [
|
| 198 |
+
0.025401444747088546,
|
| 199 |
+
0.8272642954595837,
|
| 200 |
+
-0.12601916303662877
|
| 201 |
+
]
|
| 202 |
+
}
|
| 203 |
+
},
|
| 204 |
+
"grasp_7": {
|
| 205 |
+
"confidence": 0.9353115558624268,
|
| 206 |
+
"position": [
|
| 207 |
+
-0.11625078180804849,
|
| 208 |
+
0.027699272468453273,
|
| 209 |
+
0.030710301361978054
|
| 210 |
+
],
|
| 211 |
+
"orientation": {
|
| 212 |
+
"w": 0.6080802493687946,
|
| 213 |
+
"xyz": [
|
| 214 |
+
0.4596850290372207,
|
| 215 |
+
0.608798943139796,
|
| 216 |
+
0.21975425192360187
|
| 217 |
+
]
|
| 218 |
+
}
|
| 219 |
+
},
|
| 220 |
+
"grasp_8": {
|
| 221 |
+
"confidence": 0.9231790900230408,
|
| 222 |
+
"position": [
|
| 223 |
+
-0.1192070678807795,
|
| 224 |
+
-0.01914239363395609,
|
| 225 |
+
0.02319214027374983
|
| 226 |
+
],
|
| 227 |
+
"orientation": {
|
| 228 |
+
"w": 0.5181372205162769,
|
| 229 |
+
"xyz": [
|
| 230 |
+
0.3716841863324674,
|
| 231 |
+
0.6313779016874389,
|
| 232 |
+
0.4413010668543704
|
| 233 |
+
]
|
| 234 |
+
}
|
| 235 |
+
},
|
| 236 |
+
"grasp_9": {
|
| 237 |
+
"confidence": 0.8896291851997375,
|
| 238 |
+
"position": [
|
| 239 |
+
-0.12105502793565392,
|
| 240 |
+
-0.011979316972428933,
|
| 241 |
+
-0.01185165997594595
|
| 242 |
+
],
|
| 243 |
+
"orientation": {
|
| 244 |
+
"w": 0.6409206697875187,
|
| 245 |
+
"xyz": [
|
| 246 |
+
-0.3910253354954503,
|
| 247 |
+
0.474775015631973,
|
| 248 |
+
-0.45924782696431804
|
| 249 |
+
]
|
| 250 |
+
}
|
| 251 |
+
},
|
| 252 |
+
"grasp_14": {
|
| 253 |
+
"confidence": 0.935642659664154,
|
| 254 |
+
"position": [
|
| 255 |
+
-0.11954388627782464,
|
| 256 |
+
-0.015149728074902669,
|
| 257 |
+
0.026944694109261036
|
| 258 |
+
],
|
| 259 |
+
"orientation": {
|
| 260 |
+
"w": 0.5221155225094508,
|
| 261 |
+
"xyz": [
|
| 262 |
+
-0.5351722083764181,
|
| 263 |
+
0.5190209072159618,
|
| 264 |
+
-0.4142503909580666
|
| 265 |
+
]
|
| 266 |
+
}
|
| 267 |
+
},
|
| 268 |
+
"grasp_15": {
|
| 269 |
+
"confidence": 0.9092554450035095,
|
| 270 |
+
"position": [
|
| 271 |
+
-0.11627095798030496,
|
| 272 |
+
-0.026435431704157963,
|
| 273 |
+
0.028934900648891926
|
| 274 |
+
],
|
| 275 |
+
"orientation": {
|
| 276 |
+
"w": 0.40476737445806465,
|
| 277 |
+
"xyz": [
|
| 278 |
+
-0.6895315529964104,
|
| 279 |
+
0.30315653552102095,
|
| 280 |
+
-0.5184647769787027
|
| 281 |
+
]
|
| 282 |
+
}
|
| 283 |
+
},
|
| 284 |
+
"grasp_16": {
|
| 285 |
+
"confidence": 0.9044914245605469,
|
| 286 |
+
"position": [
|
| 287 |
+
-0.11677545169368386,
|
| 288 |
+
0.025084668159252033,
|
| 289 |
+
0.02968022134155035
|
| 290 |
+
],
|
| 291 |
+
"orientation": {
|
| 292 |
+
"w": 0.4221788905996728,
|
| 293 |
+
"xyz": [
|
| 294 |
+
0.6861559541894334,
|
| 295 |
+
0.33525028687912006,
|
| 296 |
+
0.4884283325216562
|
| 297 |
+
]
|
| 298 |
+
}
|
| 299 |
+
},
|
| 300 |
+
"grasp_18": {
|
| 301 |
+
"confidence": 0.8923743367195129,
|
| 302 |
+
"position": [
|
| 303 |
+
-0.11168526718392968,
|
| 304 |
+
-0.03776095682405867,
|
| 305 |
+
0.032822553999722004
|
| 306 |
+
],
|
| 307 |
+
"orientation": {
|
| 308 |
+
"w": 0.5036554170043357,
|
| 309 |
+
"xyz": [
|
| 310 |
+
-0.6611084950598005,
|
| 311 |
+
0.395628794078442,
|
| 312 |
+
-0.3908255825531276
|
| 313 |
+
]
|
| 314 |
+
}
|
| 315 |
+
},
|
| 316 |
+
"grasp_19": {
|
| 317 |
+
"confidence": 0.8795415163040161,
|
| 318 |
+
"position": [
|
| 319 |
+
-0.11465787002816796,
|
| 320 |
+
-0.026400861010188237,
|
| 321 |
+
-0.019018364138901234
|
| 322 |
+
],
|
| 323 |
+
"orientation": {
|
| 324 |
+
"w": 0.45618090072543815,
|
| 325 |
+
"xyz": [
|
| 326 |
+
0.3894520995770339,
|
| 327 |
+
0.42901087682163064,
|
| 328 |
+
0.6754078142256749
|
| 329 |
+
]
|
| 330 |
+
}
|
| 331 |
+
}
|
| 332 |
+
}
|
| 333 |
+
}
|
| 334 |
+
],
|
| 335 |
+
"quality_check": {
|
| 336 |
+
"success": true,
|
| 337 |
+
"message": "YES"
|
| 338 |
+
}
|
| 339 |
+
}
|
dataset/food/ingredients/81ea292188735ebc909facc0c22e657b/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:75adca4cbebca0edfd44c43ba9fb058e921cba214606435259418d70c9865dc1
|
| 3 |
+
size 3779256
|