xinjjj commited on
Commit
a6f82b1
·
verified ·
1 Parent(s): 59b8018

Add asset food/fruits/92e21b8341d45e93878923825c4ba18f

Browse files
.gitattributes CHANGED
@@ -8300,3 +8300,4 @@ dataset/food/fruits/8a8627a32e63500f8e0d0940e705f8bb/affordance/mesh_part_seg.gl
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
 
 
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
8303
+ dataset/food/fruits/92e21b8341d45e93878923825c4ba18f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/food/fruits/92e21b8341d45e93878923825c4ba18f/affordance/affordance_annot.json ADDED
@@ -0,0 +1,242 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "stem of pear",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "delicately grasp the stem to orient the pear",
10
+ "confidence": 0.31
11
+ },
12
+ {
13
+ "scenario": "briefly hold the stem while stabilizing the pear during inspection",
14
+ "confidence": 0.24
15
+ },
16
+ {
17
+ "scenario": "lift the pear by the stem",
18
+ "confidence": 0.1
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "connect to branch",
23
+ "indicate top orientation",
24
+ "provide a small manipulation point"
25
+ ],
26
+ "semantic_description": "Small thin brown woody stem with a hard slightly rough fibrous texture, matte finish, and a curved cylindrical shape protruding from the top of the pear.",
27
+ "id": 0,
28
+ "grasp_group": {
29
+ "grasp_0": {
30
+ "confidence": 0.9585710763931274,
31
+ "position": [
32
+ 0.010924443136900663,
33
+ -0.02467813855037093,
34
+ 0.16018140106461942
35
+ ],
36
+ "orientation": {
37
+ "w": 0.08410242058097792,
38
+ "xyz": [
39
+ -0.9763469978808491,
40
+ 0.19445634131536782,
41
+ 0.04312834223239878
42
+ ]
43
+ }
44
+ },
45
+ "grasp_2": {
46
+ "confidence": 0.9488961100578308,
47
+ "position": [
48
+ 0.018685611430555582,
49
+ -0.005528114037588239,
50
+ 0.15999185829423368
51
+ ],
52
+ "orientation": {
53
+ "w": 0.047044022953696404,
54
+ "xyz": [
55
+ -0.19264921537117485,
56
+ -0.9800762017114396,
57
+ 0.011125581336776264
58
+ ]
59
+ }
60
+ },
61
+ "grasp_3": {
62
+ "confidence": 0.9437239170074463,
63
+ "position": [
64
+ 0.05418232874944806,
65
+ -0.018053253646939993,
66
+ 0.14477187185548246
67
+ ],
68
+ "orientation": {
69
+ "w": 0.22775313783065318,
70
+ "xyz": [
71
+ -0.7107174344408352,
72
+ -0.6492360065185864,
73
+ 0.14663507230511566
74
+ ]
75
+ }
76
+ },
77
+ "grasp_4": {
78
+ "confidence": 0.9428907036781311,
79
+ "position": [
80
+ 0.0537518416531384,
81
+ -0.022360424976795912,
82
+ 0.14579281001351774
83
+ ],
84
+ "orientation": {
85
+ "w": 0.2306734227040034,
86
+ "xyz": [
87
+ -0.7590727069890018,
88
+ -0.5918765967860589,
89
+ 0.14240959145844853
90
+ ]
91
+ }
92
+ },
93
+ "grasp_6": {
94
+ "confidence": 0.925094485282898,
95
+ "position": [
96
+ 0.04270106228068471,
97
+ -0.032833834644407034,
98
+ 0.15425275056622922
99
+ ],
100
+ "orientation": {
101
+ "w": 0.06375404129268751,
102
+ "xyz": [
103
+ 0.5953273998041142,
104
+ -0.7676226739646037,
105
+ -0.2286397596148888
106
+ ]
107
+ }
108
+ },
109
+ "grasp_7": {
110
+ "confidence": 0.9215473532676697,
111
+ "position": [
112
+ 0.052484162617474794,
113
+ -0.009497576858848333,
114
+ 0.15099334507249296
115
+ ],
116
+ "orientation": {
117
+ "w": 0.18857515860777635,
118
+ "xyz": [
119
+ -0.7296261482986393,
120
+ -0.6366710851201262,
121
+ 0.16350847882267483
122
+ ]
123
+ }
124
+ },
125
+ "grasp_10": {
126
+ "confidence": 0.939824640750885,
127
+ "position": [
128
+ 0.031701717991381884,
129
+ 0.002889038063585758,
130
+ 0.15325523703359067
131
+ ],
132
+ "orientation": {
133
+ "w": 0.09609470514762694,
134
+ "xyz": [
135
+ -0.6114550021806037,
136
+ -0.77629927163915,
137
+ 0.11936510714372867
138
+ ]
139
+ }
140
+ },
141
+ "grasp_11": {
142
+ "confidence": 0.9282271862030029,
143
+ "position": [
144
+ 0.041216321755200624,
145
+ -0.02078070817515254,
146
+ 0.15037448494695127
147
+ ],
148
+ "orientation": {
149
+ "w": 0.18155527310950834,
150
+ "xyz": [
151
+ 0.040172838407270144,
152
+ -0.978110766396533,
153
+ -0.09339782930893928
154
+ ]
155
+ }
156
+ },
157
+ "grasp_14": {
158
+ "confidence": 0.9475077986717224,
159
+ "position": [
160
+ 0.0494125266559422,
161
+ -0.02211575536057353,
162
+ 0.1501051017548889
163
+ ],
164
+ "orientation": {
165
+ "w": 0.17202562895013895,
166
+ "xyz": [
167
+ 0.44675222808719606,
168
+ -0.8576495695344184,
169
+ -0.18776806320794248
170
+ ]
171
+ }
172
+ },
173
+ "grasp_17": {
174
+ "confidence": 0.935828447341919,
175
+ "position": [
176
+ 0.05108467908576131,
177
+ -0.0414763237349689,
178
+ 0.14036188810132444
179
+ ],
180
+ "orientation": {
181
+ "w": 0.09844681521760483,
182
+ "xyz": [
183
+ 0.5474046983147527,
184
+ -0.7730164589566868,
185
+ -0.30512599859485884
186
+ ]
187
+ }
188
+ }
189
+ }
190
+ },
191
+ {
192
+ "part_name": "body of pear",
193
+ "mask_color": "Green",
194
+ "graspable": true,
195
+ "grasp_scenarios": [
196
+ {
197
+ "scenario": "grasp the pear body to pick it up",
198
+ "confidence": 0.94
199
+ },
200
+ {
201
+ "scenario": "hold the pear body to stabilize it for cutting or inspection",
202
+ "confidence": 0.9
203
+ },
204
+ {
205
+ "scenario": "reorient the pear by gripping its wider lower body",
206
+ "confidence": 0.87
207
+ }
208
+ ],
209
+ "functional_labels": [
210
+ "main grasp surface",
211
+ "contain edible flesh",
212
+ "support handling",
213
+ "support placement",
214
+ "present edible exterior"
215
+ ],
216
+ "semantic_description": "Large bulbous pale yellow-green pear body with smooth slightly glossy food skin, fine speckling, a firm hard surface, and a rounded form that widens toward the bottom with natural bruising spots visible on one side.",
217
+ "id": 1,
218
+ "grasp_group": {
219
+ "grasp_22": {
220
+ "confidence": 0.9408928155899048,
221
+ "position": [
222
+ -0.019145722966641188,
223
+ -0.0021871112257940695,
224
+ 0.14160732715390623
225
+ ],
226
+ "orientation": {
227
+ "w": 0.05694366603705575,
228
+ "xyz": [
229
+ 0.686971056346653,
230
+ 0.7205545388893927,
231
+ 0.07502894858732316
232
+ ]
233
+ }
234
+ }
235
+ }
236
+ }
237
+ ],
238
+ "quality_check": {
239
+ "success": true,
240
+ "message": "YES"
241
+ }
242
+ }
dataset/food/fruits/92e21b8341d45e93878923825c4ba18f/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4ed134bfd9bcdfe8d7b3a2a612bcc13fe025880aedf4e0e3ee36ad31efcf42a7
3
+ size 3777776