Add asset food/ingredients/91d10d9e482b508f92497f97a9338fed
Browse files
.gitattributes
CHANGED
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@@ -6801,4 +6801,4 @@ dataset/food/ingredients/857d8949e7605347897d4845530fa141/affordance/mesh_part_s
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| 6801 |
dataset/food/ingredients/8a1f24c91467554199c7f927a5e8f555/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6802 |
dataset/food/ingredients/8c5072cb53275200a947a103c3d13907/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6803 |
dataset/food/ingredients/90179f43534f5fac81fab0e1093d8236/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6804 |
-
dataset/food/ingredients/
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| 6801 |
dataset/food/ingredients/8a1f24c91467554199c7f927a5e8f555/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6802 |
dataset/food/ingredients/8c5072cb53275200a947a103c3d13907/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6803 |
dataset/food/ingredients/90179f43534f5fac81fab0e1093d8236/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6804 |
+
dataset/food/ingredients/91d10d9e482b508f92497f97a9338fed/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/ingredients/91d10d9e482b508f92497f97a9338fed/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,343 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "tomato body",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
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"scenario": "grasp the tomato body to pick up and move the tomato",
|
| 10 |
+
"confidence": 0.93
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
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"scenario": "hold the tomato body to stabilize it during inspection or sorting",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"main grasp surface",
|
| 19 |
+
"contain edible flesh",
|
| 20 |
+
"support handling",
|
| 21 |
+
"provide bulk structure"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large rounded red tomato body with glossy smooth skin, a firm slightly yielding texture, and a plump near-spherical shape forming most of the fruit.",
|
| 24 |
+
"id": 2,
|
| 25 |
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"grasp_group": {
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| 26 |
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| 27 |
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| 28 |
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| 32 |
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],
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"orientation": {
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| 35 |
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"xyz": [
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| 40 |
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| 41 |
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},
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| 42 |
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"grasp_21": {
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| 43 |
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"confidence": 0.9527410864830017,
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| 44 |
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"position": [
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"grasp_35": {
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| 225 |
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"orientation": {
|
| 226 |
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"w": 0.6103988255617189,
|
| 227 |
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"xyz": [
|
| 228 |
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0.04569682589764237,
|
| 229 |
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0.7745859344677593,
|
| 230 |
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-0.15919077856604413
|
| 231 |
+
]
|
| 232 |
+
}
|
| 233 |
+
},
|
| 234 |
+
"grasp_37": {
|
| 235 |
+
"confidence": 0.9349140524864197,
|
| 236 |
+
"position": [
|
| 237 |
+
-0.09929980058223009,
|
| 238 |
+
-0.0558641841635108,
|
| 239 |
+
-0.004009528438473353
|
| 240 |
+
],
|
| 241 |
+
"orientation": {
|
| 242 |
+
"w": 0.6902468480200137,
|
| 243 |
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"xyz": [
|
| 244 |
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-0.13788596446888188,
|
| 245 |
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0.6844672502634084,
|
| 246 |
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0.18987188553804274
|
| 247 |
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]
|
| 248 |
+
}
|
| 249 |
+
},
|
| 250 |
+
"grasp_38": {
|
| 251 |
+
"confidence": 0.9344857931137085,
|
| 252 |
+
"position": [
|
| 253 |
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0.10562282335013151,
|
| 254 |
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0.012358782114461064,
|
| 255 |
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-0.002391192250797758
|
| 256 |
+
],
|
| 257 |
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"orientation": {
|
| 258 |
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"w": 0.06914014744326759,
|
| 259 |
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"xyz": [
|
| 260 |
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0.6969560953679329,
|
| 261 |
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-0.032960216897967465,
|
| 262 |
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-0.7130115463602581
|
| 263 |
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]
|
| 264 |
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}
|
| 265 |
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},
|
| 266 |
+
"grasp_39": {
|
| 267 |
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"confidence": 0.9335566759109497,
|
| 268 |
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"position": [
|
| 269 |
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0.08961355220526457,
|
| 270 |
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0.059735861606895924,
|
| 271 |
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-0.010624543650919804
|
| 272 |
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],
|
| 273 |
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"orientation": {
|
| 274 |
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"w": 0.2310541891050324,
|
| 275 |
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"xyz": [
|
| 276 |
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0.6500798995017848,
|
| 277 |
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0.14683752261011895,
|
| 278 |
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-0.7088362490127661
|
| 279 |
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]
|
| 280 |
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}
|
| 281 |
+
}
|
| 282 |
+
}
|
| 283 |
+
},
|
| 284 |
+
{
|
| 285 |
+
"part_name": "calyx of tomato",
|
| 286 |
+
"mask_color": "Red",
|
| 287 |
+
"graspable": true,
|
| 288 |
+
"grasp_scenarios": [
|
| 289 |
+
{
|
| 290 |
+
"scenario": "delicately pinch the calyx to orient the tomato",
|
| 291 |
+
"confidence": 0.26
|
| 292 |
+
},
|
| 293 |
+
{
|
| 294 |
+
"scenario": "lightly hold the calyx to stabilize the tomato during inspection",
|
| 295 |
+
"confidence": 0.18
|
| 296 |
+
}
|
| 297 |
+
],
|
| 298 |
+
"functional_labels": [
|
| 299 |
+
"protect stem end",
|
| 300 |
+
"indicate top orientation",
|
| 301 |
+
"attach around stem base"
|
| 302 |
+
],
|
| 303 |
+
"semantic_description": "Small green leafy calyx with thin pointed lobes, a matte slightly rough plant texture, and a star-like shape attached at the tomato top.",
|
| 304 |
+
"id": 0,
|
| 305 |
+
"grasp_group": {
|
| 306 |
+
"grasp_7": {
|
| 307 |
+
"confidence": 0.7727522850036621,
|
| 308 |
+
"position": [
|
| 309 |
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-0.034922496415674686,
|
| 310 |
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0.12860228959470987,
|
| 311 |
+
0.037783480362122646
|
| 312 |
+
],
|
| 313 |
+
"orientation": {
|
| 314 |
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"w": 0.3638334872659284,
|
| 315 |
+
"xyz": [
|
| 316 |
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0.6580898332461085,
|
| 317 |
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-0.4634236738220344,
|
| 318 |
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0.46880855736996846
|
| 319 |
+
]
|
| 320 |
+
}
|
| 321 |
+
}
|
| 322 |
+
}
|
| 323 |
+
},
|
| 324 |
+
{
|
| 325 |
+
"part_name": "stem of tomato",
|
| 326 |
+
"mask_color": "Green",
|
| 327 |
+
"graspable": false,
|
| 328 |
+
"grasp_scenarios": [],
|
| 329 |
+
"functional_labels": [
|
| 330 |
+
"connect to vine",
|
| 331 |
+
"anchor the calyx",
|
| 332 |
+
"indicate top center"
|
| 333 |
+
],
|
| 334 |
+
"semantic_description": "Very small short green stem stub with a matte fibrous plant surface, located at the center of the calyx on the tomato top.",
|
| 335 |
+
"id": 1,
|
| 336 |
+
"grasp_group": {}
|
| 337 |
+
}
|
| 338 |
+
],
|
| 339 |
+
"quality_check": {
|
| 340 |
+
"success": false,
|
| 341 |
+
"message": "Mask colors for calyx and stem are swapped relative to segmentation image."
|
| 342 |
+
}
|
| 343 |
+
}
|
dataset/food/ingredients/91d10d9e482b508f92497f97a9338fed/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d0bdbd861858c93c37736cd4eeb7528fcaa484cfd6671d979aeb9ab4a1100abf
|
| 3 |
+
size 3778296
|
dataset/food/ingredients/91d10d9e482b508f92497f97a9338fed/tomato_005.urdf
CHANGED
|
@@ -54,6 +54,7 @@
|
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
|
|
|
| 57 |
</affordance>
|
| 58 |
<quality>
|
| 59 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
| 57 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 58 |
</affordance>
|
| 59 |
<quality>
|
| 60 |
<PartSegChecker>YES</PartSegChecker>
|