Add asset food/ingredients/7f000056f3b05094b2e41bcc328b8594
Browse files
.gitattributes
CHANGED
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@@ -6794,3 +6794,4 @@ dataset/food/ingredients/5cdbf4e7e9675a96b1f1d227a68afe2d/affordance/mesh_part_s
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| 6794 |
dataset/food/ingredients/605414d9b68d5f36a1fdd2ac0baad5d5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6795 |
dataset/food/ingredients/618f3f5a1f5553a2ad85f94abe7926ad/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6796 |
dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6794 |
dataset/food/ingredients/605414d9b68d5f36a1fdd2ac0baad5d5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6795 |
dataset/food/ingredients/618f3f5a1f5553a2ad85f94abe7926ad/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6796 |
dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6797 |
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dataset/food/ingredients/7f000056f3b05094b2e41bcc328b8594/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/ingredients/7f000056f3b05094b2e41bcc328b8594/affordance/affordance_annot.json
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| 1 |
+
{
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| 2 |
+
"affordances": [
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| 3 |
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{
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| 4 |
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"part_name": "carrot body",
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| 5 |
+
"mask_color": "Green",
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| 6 |
+
"graspable": true,
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| 7 |
+
"grasp_scenarios": [
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| 8 |
+
{
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| 9 |
+
"scenario": "grasp the carrot body around the middle to pick up the carrot",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
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| 12 |
+
{
|
| 13 |
+
"scenario": "hold the carrot body to stabilize it during cutting or peeling",
|
| 14 |
+
"confidence": 0.91
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
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"scenario": "grasp near the thicker end to orient the carrot for placement",
|
| 18 |
+
"confidence": 0.86
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main edible portion",
|
| 23 |
+
"primary grasp surface",
|
| 24 |
+
"support cutting and peeling",
|
| 25 |
+
"provide bulk and structure"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large tapered orange root body with matte to slightly satin food skin, a firm smooth surface with faint natural ridges, and a conical shape forming most of the carrot length.",
|
| 28 |
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"id": 1,
|
| 29 |
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"grasp_group": {
|
| 30 |
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"grasp_22": {
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| 31 |
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"confidence": 0.9931536912918091,
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| 32 |
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"position": [
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| 33 |
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],
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"orientation": {
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"w": 0.028188505884600815,
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"xyz": [
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| 43 |
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]
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| 44 |
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}
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| 45 |
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},
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| 46 |
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"grasp_24": {
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| 47 |
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"confidence": 0.9928992986679077,
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| 48 |
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"position": [
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| 49 |
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| 50 |
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],
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"orientation": {
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"xyz": [
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]
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| 60 |
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}
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| 61 |
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},
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| 62 |
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"grasp_25": {
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| 63 |
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"confidence": 0.9928826093673706,
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| 64 |
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"position": [
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"orientation": {
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"xyz": [
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},
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"grasp_27": {
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"confidence": 0.9927563071250916,
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"position": [
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"orientation": {
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"w": 0.3219061085385836,
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"xyz": [
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]
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}
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},
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"grasp_28": {
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"confidence": 0.9927378296852112,
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"position": [
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},
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"grasp_30": {
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"confidence": 0.9926882982254028,
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"position": [
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],
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"orientation": {
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| 123 |
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]
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| 124 |
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}
|
| 125 |
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},
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| 126 |
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"grasp_32": {
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"confidence": 0.9925891160964966,
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"position": [
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],
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"orientation": {
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]
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}
|
| 141 |
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},
|
| 142 |
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"grasp_33": {
|
| 143 |
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"confidence": 0.9925603866577148,
|
| 144 |
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"position": [
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| 145 |
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|
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],
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"orientation": {
|
| 150 |
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"w": 0.2055123417287987,
|
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"xyz": [
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| 154 |
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|
| 155 |
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]
|
| 156 |
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}
|
| 157 |
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},
|
| 158 |
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"grasp_35": {
|
| 159 |
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"confidence": 0.992522656917572,
|
| 160 |
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"position": [
|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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],
|
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"orientation": {
|
| 166 |
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"w": 0.09499646825965978,
|
| 167 |
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"xyz": [
|
| 168 |
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|
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|
| 170 |
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|
| 171 |
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]
|
| 172 |
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}
|
| 173 |
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},
|
| 174 |
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"grasp_38": {
|
| 175 |
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"confidence": 0.9923642873764038,
|
| 176 |
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"position": [
|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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],
|
| 181 |
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"orientation": {
|
| 182 |
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"w": 0.0469503153176829,
|
| 183 |
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"xyz": [
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| 184 |
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|
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|
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|
| 187 |
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]
|
| 188 |
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}
|
| 189 |
+
}
|
| 190 |
+
}
|
| 191 |
+
},
|
| 192 |
+
{
|
| 193 |
+
"part_name": "leaf stub",
|
| 194 |
+
"mask_color": "Red",
|
| 195 |
+
"graspable": true,
|
| 196 |
+
"grasp_scenarios": [
|
| 197 |
+
{
|
| 198 |
+
"scenario": "delicately grasp the leaf stub to orient the carrot",
|
| 199 |
+
"confidence": 0.42
|
| 200 |
+
},
|
| 201 |
+
{
|
| 202 |
+
"scenario": "lightly hold the top stub while the carrot rests on a surface",
|
| 203 |
+
"confidence": 0.35
|
| 204 |
+
}
|
| 205 |
+
],
|
| 206 |
+
"functional_labels": [
|
| 207 |
+
"indicate top end",
|
| 208 |
+
"remnant of leafy attachment",
|
| 209 |
+
"aid orientation",
|
| 210 |
+
"provide a small secondary hold point"
|
| 211 |
+
],
|
| 212 |
+
"semantic_description": "Small pale green trimmed top stub with a matte fibrous plant texture, short flat-cut protrusions, and a clustered shape at the carrot's thick end.",
|
| 213 |
+
"id": 0,
|
| 214 |
+
"grasp_group": {
|
| 215 |
+
"grasp_1": {
|
| 216 |
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"confidence": 0.843753457069397,
|
| 217 |
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"position": [
|
| 218 |
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-0.00037258220254443586,
|
| 219 |
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0.1373617723584175,
|
| 220 |
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0.03202829174915678
|
| 221 |
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],
|
| 222 |
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"orientation": {
|
| 223 |
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"w": 0.3002335368210032,
|
| 224 |
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"xyz": [
|
| 225 |
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0.3574883295827361,
|
| 226 |
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0.7035340229218567,
|
| 227 |
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-0.5358188090870689
|
| 228 |
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]
|
| 229 |
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}
|
| 230 |
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}
|
| 231 |
+
}
|
| 232 |
+
},
|
| 233 |
+
{
|
| 234 |
+
"part_name": "root tip",
|
| 235 |
+
"mask_color": "Blue",
|
| 236 |
+
"graspable": false,
|
| 237 |
+
"grasp_scenarios": [],
|
| 238 |
+
"functional_labels": [
|
| 239 |
+
"indicate bottom end",
|
| 240 |
+
"terminal root remnant",
|
| 241 |
+
"support orientation recognition"
|
| 242 |
+
],
|
| 243 |
+
"semantic_description": "Very thin beige root tail with a dull slightly dry fibrous texture, wiry curved shape, and tiny size protruding from the carrot's narrow pointed end.",
|
| 244 |
+
"id": 2,
|
| 245 |
+
"grasp_group": {}
|
| 246 |
+
}
|
| 247 |
+
],
|
| 248 |
+
"quality_check": {
|
| 249 |
+
"success": true,
|
| 250 |
+
"message": "YES"
|
| 251 |
+
}
|
| 252 |
+
}
|
dataset/food/ingredients/7f000056f3b05094b2e41bcc328b8594/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
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|
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5b2e2b97ef394a33da6d2dc349a09f6e64d10cc919d66153baf8c92f47ee235a
|
| 3 |
+
size 3779152
|