Add asset food/fruits/7cb1390eb950580d9304069bd78b57db
Browse files
.gitattributes
CHANGED
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@@ -8290,3 +8290,4 @@ dataset/food/fruits/6072327ff43954b6b7fb76075d1442ff/affordance/mesh_part_seg.gl
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| 8290 |
dataset/food/fruits/64ed05bd96c553e8b231e767accce641/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8291 |
dataset/food/fruits/72db2fa9b5ca51dfb2f31ce96ec113de/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8292 |
dataset/food/fruits/74a1724157ba5e72ab26313e7f3b2ea8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8290 |
dataset/food/fruits/64ed05bd96c553e8b231e767accce641/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8291 |
dataset/food/fruits/72db2fa9b5ca51dfb2f31ce96ec113de/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8292 |
dataset/food/fruits/74a1724157ba5e72ab26313e7f3b2ea8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8293 |
+
dataset/food/fruits/7cb1390eb950580d9304069bd78b57db/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/fruits/7cb1390eb950580d9304069bd78b57db/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,322 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "body of pear",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the pear body to pick up and transport the fruit",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the pear body to stabilize it during inspection or placement",
|
| 14 |
+
"confidence": 0.93
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the pear body for cutting or peeling preparation",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"contain edible flesh",
|
| 24 |
+
"support eating",
|
| 25 |
+
"provide overall fruit mass",
|
| 26 |
+
"stabilize during handling"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large bulbous pear body with red-to-yellow food skin, a smooth slightly glossy finish, firm fine-grained texture, and a rounded form that makes up nearly the entire fruit beneath the narrow neck.",
|
| 29 |
+
"id": 0,
|
| 30 |
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"grasp_group": {}
|
| 31 |
+
},
|
| 32 |
+
{
|
| 33 |
+
"part_name": "stem of pear",
|
| 34 |
+
"mask_color": "Green",
|
| 35 |
+
"graspable": true,
|
| 36 |
+
"grasp_scenarios": [
|
| 37 |
+
{
|
| 38 |
+
"scenario": "delicately grasp the stem to orient the pear",
|
| 39 |
+
"confidence": 0.34
|
| 40 |
+
},
|
| 41 |
+
{
|
| 42 |
+
"scenario": "lightly hold the stem to stabilize the fruit during inspection",
|
| 43 |
+
"confidence": 0.26
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"scenario": "lift the pear by the stem in a careful low-load manipulation",
|
| 47 |
+
"confidence": 0.14
|
| 48 |
+
}
|
| 49 |
+
],
|
| 50 |
+
"functional_labels": [
|
| 51 |
+
"connect to branch",
|
| 52 |
+
"indicate top orientation",
|
| 53 |
+
"provide a delicate holding point",
|
| 54 |
+
"assist fine reorientation"
|
| 55 |
+
],
|
| 56 |
+
"semantic_description": "Small curved brown woody stem with a matte slightly rough fibrous texture, hard surface, and slender tapered shape protruding from the top of the pear.",
|
| 57 |
+
"id": 1,
|
| 58 |
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"grasp_group": {
|
| 59 |
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"grasp_20": {
|
| 60 |
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"confidence": 0.9682585000991821,
|
| 61 |
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"position": [
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| 62 |
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| 63 |
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| 64 |
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| 65 |
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],
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| 66 |
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"orientation": {
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| 67 |
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"w": 0.057765930478942316,
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| 68 |
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"xyz": [
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| 70 |
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| 71 |
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| 72 |
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]
|
| 73 |
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}
|
| 74 |
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},
|
| 75 |
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"grasp_21": {
|
| 76 |
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"confidence": 0.9678606390953064,
|
| 77 |
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"position": [
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| 78 |
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|
| 79 |
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| 80 |
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| 81 |
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],
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| 82 |
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"orientation": {
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"w": 0.08798231433061793,
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"xyz": [
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| 87 |
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| 88 |
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]
|
| 89 |
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}
|
| 90 |
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},
|
| 91 |
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"grasp_22": {
|
| 92 |
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"confidence": 0.9662593007087708,
|
| 93 |
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"position": [
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| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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],
|
| 98 |
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"orientation": {
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"w": 0.38577762913955405,
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| 100 |
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"xyz": [
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| 103 |
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| 104 |
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}
|
| 106 |
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},
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"grasp_23": {
|
| 108 |
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"confidence": 0.9661260843276978,
|
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|
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| 113 |
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],
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"orientation": {
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"xyz": [
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]
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}
|
| 122 |
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},
|
| 123 |
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"grasp_24": {
|
| 124 |
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"confidence": 0.9660564064979553,
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],
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"orientation": {
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},
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"grasp_25": {
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| 140 |
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"confidence": 0.9648369550704956,
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| 141 |
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]
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}
|
| 154 |
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},
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"grasp_26": {
|
| 156 |
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"confidence": 0.9643539190292358,
|
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| 168 |
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]
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}
|
| 170 |
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},
|
| 171 |
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"grasp_27": {
|
| 172 |
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"confidence": 0.964099109172821,
|
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"position": [
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],
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"orientation": {
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]
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}
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},
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"grasp_28": {
|
| 188 |
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"confidence": 0.9616480469703674,
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"position": [
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],
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"orientation": {
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]
|
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}
|
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},
|
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"grasp_30": {
|
| 204 |
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"confidence": 0.9610674381256104,
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"position": [
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"orientation": {
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},
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"grasp_33": {
|
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dataset/food/fruits/7cb1390eb950580d9304069bd78b57db/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 sha256:47ebe70ae485fa0cf8ce5d1990718716f9e5163ff807c4adb9a6adfe5613eb7d
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| 3 |
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size 1442080
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