Add asset food/ingredients/967da2d6838d5ad0998e2a79993d8afa
Browse files
.gitattributes
CHANGED
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@@ -6804,4 +6804,4 @@ dataset/food/ingredients/90179f43534f5fac81fab0e1093d8236/affordance/mesh_part_s
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| 6804 |
dataset/food/ingredients/9157eb7537375b87a1f28c697240264c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6805 |
dataset/food/ingredients/91e95b81acbc50a99a0d3dad84ae159d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6806 |
dataset/food/ingredients/92be645194ed57f09e8638886257ac26/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6807 |
-
dataset/food/ingredients/
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| 6804 |
dataset/food/ingredients/9157eb7537375b87a1f28c697240264c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6805 |
dataset/food/ingredients/91e95b81acbc50a99a0d3dad84ae159d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6806 |
dataset/food/ingredients/92be645194ed57f09e8638886257ac26/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6807 |
+
dataset/food/ingredients/967da2d6838d5ad0998e2a79993d8afa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/ingredients/967da2d6838d5ad0998e2a79993d8afa/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,306 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "stem of chili",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "delicately grasp the stem to orient the chili before placement",
|
| 10 |
+
"confidence": 0.36
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "lightly hold the stem while cutting or inspecting the chili",
|
| 14 |
+
"confidence": 0.31
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "lift the chili by the stem",
|
| 18 |
+
"confidence": 0.18
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"connect to plant",
|
| 23 |
+
"indicate top orientation",
|
| 24 |
+
"provide a light holding point",
|
| 25 |
+
"attach to chili body"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Small curved green stem with a matte slightly rough fibrous surface, slender and hook-like, protruding from the top of the chili with a slightly thicker cap at the attachment point.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
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"grasp_2": {
|
| 31 |
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"confidence": 0.8709128499031067,
|
| 32 |
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"position": [
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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],
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| 37 |
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"orientation": {
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| 38 |
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"w": 0.5080455768554971,
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| 39 |
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"xyz": [
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| 40 |
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| 41 |
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0.4856144075803802,
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| 42 |
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-0.49788230581514054
|
| 43 |
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]
|
| 44 |
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}
|
| 45 |
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},
|
| 46 |
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"grasp_5": {
|
| 47 |
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"confidence": 0.8623968958854675,
|
| 48 |
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"position": [
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| 49 |
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| 50 |
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| 51 |
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| 52 |
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],
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| 53 |
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"orientation": {
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| 54 |
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"w": 0.41223264377303115,
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| 55 |
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"xyz": [
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| 56 |
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| 57 |
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| 58 |
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|
| 59 |
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]
|
| 60 |
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}
|
| 61 |
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},
|
| 62 |
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"grasp_7": {
|
| 63 |
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"confidence": 0.8504018783569336,
|
| 64 |
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"position": [
|
| 65 |
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|
| 66 |
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0.1480626423144713,
|
| 67 |
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|
| 68 |
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],
|
| 69 |
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"orientation": {
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| 70 |
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"w": 0.5627485265832363,
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| 71 |
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"xyz": [
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| 72 |
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| 73 |
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| 74 |
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| 75 |
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]
|
| 76 |
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}
|
| 77 |
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},
|
| 78 |
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"grasp_11": {
|
| 79 |
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"confidence": 0.8366511464118958,
|
| 80 |
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"position": [
|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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],
|
| 85 |
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"orientation": {
|
| 86 |
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"w": 0.20211046286606318,
|
| 87 |
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"xyz": [
|
| 88 |
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|
| 89 |
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0.7352247485305436,
|
| 90 |
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-0.5941511993457249
|
| 91 |
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]
|
| 92 |
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}
|
| 93 |
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},
|
| 94 |
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"grasp_12": {
|
| 95 |
+
"confidence": 0.8331164717674255,
|
| 96 |
+
"position": [
|
| 97 |
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|
| 98 |
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0.15773772785905749,
|
| 99 |
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|
| 100 |
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],
|
| 101 |
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"orientation": {
|
| 102 |
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"w": 0.18297579951249443,
|
| 103 |
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"xyz": [
|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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]
|
| 108 |
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}
|
| 109 |
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},
|
| 110 |
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"grasp_13": {
|
| 111 |
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"confidence": 0.8261834979057312,
|
| 112 |
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"position": [
|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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],
|
| 117 |
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"orientation": {
|
| 118 |
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"w": 0.6980492235011045,
|
| 119 |
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"xyz": [
|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
+
]
|
| 124 |
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}
|
| 125 |
+
},
|
| 126 |
+
"grasp_14": {
|
| 127 |
+
"confidence": 0.8227484226226807,
|
| 128 |
+
"position": [
|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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],
|
| 133 |
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"orientation": {
|
| 134 |
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"w": 0.5525381990539896,
|
| 135 |
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"xyz": [
|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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]
|
| 140 |
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}
|
| 141 |
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},
|
| 142 |
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"grasp_15": {
|
| 143 |
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"confidence": 0.8173896670341492,
|
| 144 |
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"position": [
|
| 145 |
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0.010941224871203303,
|
| 146 |
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0.15090889821294695,
|
| 147 |
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-0.00038442426011897624
|
| 148 |
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],
|
| 149 |
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"orientation": {
|
| 150 |
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"w": 0.5069409615294861,
|
| 151 |
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"xyz": [
|
| 152 |
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0.44888243514282894,
|
| 153 |
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-0.5277060567829817,
|
| 154 |
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|
| 155 |
+
]
|
| 156 |
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}
|
| 157 |
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},
|
| 158 |
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"grasp_16": {
|
| 159 |
+
"confidence": 0.8143928647041321,
|
| 160 |
+
"position": [
|
| 161 |
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0.028685710160061717,
|
| 162 |
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0.15371441433671862,
|
| 163 |
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0.019560635759262368
|
| 164 |
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],
|
| 165 |
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"orientation": {
|
| 166 |
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"w": 0.6397492171847413,
|
| 167 |
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"xyz": [
|
| 168 |
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0.7379644541819597,
|
| 169 |
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-0.20192359182162745,
|
| 170 |
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0.0731865188493461
|
| 171 |
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]
|
| 172 |
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}
|
| 173 |
+
},
|
| 174 |
+
"grasp_18": {
|
| 175 |
+
"confidence": 0.8042841553688049,
|
| 176 |
+
"position": [
|
| 177 |
+
0.012193964561447501,
|
| 178 |
+
0.15260041842702776,
|
| 179 |
+
0.005973885505227372
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.6629599117598877,
|
| 183 |
+
"xyz": [
|
| 184 |
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0.6704440039938214,
|
| 185 |
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-0.2582742710318102,
|
| 186 |
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0.21043619895598295
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"grasp_19": {
|
| 191 |
+
"confidence": 0.7887846231460571,
|
| 192 |
+
"position": [
|
| 193 |
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0.03991267899982631,
|
| 194 |
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0.14784581551793963,
|
| 195 |
+
0.02681155755999498
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.42119264552330976,
|
| 199 |
+
"xyz": [
|
| 200 |
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0.2716116230929828,
|
| 201 |
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-0.7348500396001304,
|
| 202 |
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0.4569675052534449
|
| 203 |
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]
|
| 204 |
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}
|
| 205 |
+
}
|
| 206 |
+
}
|
| 207 |
+
},
|
| 208 |
+
{
|
| 209 |
+
"part_name": "body of chili",
|
| 210 |
+
"mask_color": "Green",
|
| 211 |
+
"graspable": true,
|
| 212 |
+
"grasp_scenarios": [
|
| 213 |
+
{
|
| 214 |
+
"scenario": "grasp the chili body to pick it up",
|
| 215 |
+
"confidence": 0.95
|
| 216 |
+
},
|
| 217 |
+
{
|
| 218 |
+
"scenario": "hold the body to reposition or place the chili",
|
| 219 |
+
"confidence": 0.93
|
| 220 |
+
},
|
| 221 |
+
{
|
| 222 |
+
"scenario": "stabilize the chili body during food preparation",
|
| 223 |
+
"confidence": 0.88
|
| 224 |
+
}
|
| 225 |
+
],
|
| 226 |
+
"functional_labels": [
|
| 227 |
+
"contain edible flesh",
|
| 228 |
+
"main grasp surface",
|
| 229 |
+
"support handling",
|
| 230 |
+
"provide bulk shape"
|
| 231 |
+
],
|
| 232 |
+
"semantic_description": "Large red pepper body with glossy smooth food skin, firm slightly curved tapered shape, and a plump lobed form making up most of the chili's volume.",
|
| 233 |
+
"id": 1,
|
| 234 |
+
"grasp_group": {
|
| 235 |
+
"grasp_27": {
|
| 236 |
+
"confidence": 0.9436854720115662,
|
| 237 |
+
"position": [
|
| 238 |
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-0.020176398800686002,
|
| 239 |
+
-0.09551015903707594,
|
| 240 |
+
-0.06824239090201445
|
| 241 |
+
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dataset/food/ingredients/967da2d6838d5ad0998e2a79993d8afa/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:42eb0ccb2e85a38abb0c42da057c11c3b003e301ded5e9f6ec85e2823064227f
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| 3 |
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size 3778708
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