Add asset food/ingredients/b86f91e151d15aa9a484f057b3c5fd1e
Browse files
.gitattributes
CHANGED
|
@@ -6816,3 +6816,4 @@ dataset/food/ingredients/ad3ea4287eea511f9d9f01435656ba26/affordance/mesh_part_s
|
|
| 6816 |
dataset/food/ingredients/adb2835e642f511a89dd0954ad55c544/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6817 |
dataset/food/ingredients/b606f81741f3540397cd565ddc35b2f2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6818 |
dataset/food/ingredients/b8418580ed4a5234a0f7baae7a465b13/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 6816 |
dataset/food/ingredients/adb2835e642f511a89dd0954ad55c544/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6817 |
dataset/food/ingredients/b606f81741f3540397cd565ddc35b2f2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6818 |
dataset/food/ingredients/b8418580ed4a5234a0f7baae7a465b13/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6819 |
+
dataset/food/ingredients/b86f91e151d15aa9a484f057b3c5fd1e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/food/ingredients/b86f91e151d15aa9a484f057b3c5fd1e/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,424 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "mushroom cap",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the cap from the sides to pick up the mushroom",
|
| 10 |
+
"confidence": 0.83
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the cap to stabilize the mushroom during inspection",
|
| 14 |
+
"confidence": 0.72
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"cover the gills",
|
| 19 |
+
"protect the spore surface",
|
| 20 |
+
"provide the main upper body",
|
| 21 |
+
"support top-side grasping"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large rounded orange-brown cap with a smooth slightly matte surface and firm food-like texture, forming the broad top of the mushroom with a lighter yellowish rim underneath.",
|
| 24 |
+
"id": 2,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_20": {
|
| 27 |
+
"confidence": 0.9275011420249939,
|
| 28 |
+
"position": [
|
| 29 |
+
0.013836688711307943,
|
| 30 |
+
0.023238783673150465,
|
| 31 |
+
0.12142004072666168
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.059876084466251346,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.11497666351296743,
|
| 37 |
+
-0.9834046383390462,
|
| 38 |
+
0.1269272967082599
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_21": {
|
| 43 |
+
"confidence": 0.9272159337997437,
|
| 44 |
+
"position": [
|
| 45 |
+
0.002487293677404523,
|
| 46 |
+
0.001791196729755029,
|
| 47 |
+
0.12346991151571274
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.02954060736401744,
|
| 51 |
+
"xyz": [
|
| 52 |
+
0.08813527050783611,
|
| 53 |
+
-0.995608225680932,
|
| 54 |
+
0.011125986048046089
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_22": {
|
| 59 |
+
"confidence": 0.9238669872283936,
|
| 60 |
+
"position": [
|
| 61 |
+
0.005016365903429687,
|
| 62 |
+
-0.03548268604208715,
|
| 63 |
+
0.11695849150419235
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.05326331690810363,
|
| 67 |
+
"xyz": [
|
| 68 |
+
-0.10045679178121021,
|
| 69 |
+
-0.9815893309468748,
|
| 70 |
+
-0.153472595039768
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_23": {
|
| 75 |
+
"confidence": 0.921755850315094,
|
| 76 |
+
"position": [
|
| 77 |
+
0.03481958748307079,
|
| 78 |
+
-0.10362773019005544,
|
| 79 |
+
0.022016867995262146
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.12501945511465856,
|
| 83 |
+
"xyz": [
|
| 84 |
+
0.11259319502752112,
|
| 85 |
+
-0.7189039038442984,
|
| 86 |
+
-0.67444057211422
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_24": {
|
| 91 |
+
"confidence": 0.9188625812530518,
|
| 92 |
+
"position": [
|
| 93 |
+
0.00866595038678497,
|
| 94 |
+
0.044748395652277395,
|
| 95 |
+
0.11102523654699326
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.031522852703803596,
|
| 99 |
+
"xyz": [
|
| 100 |
+
-0.0936639473807665,
|
| 101 |
+
-0.9656585584862821,
|
| 102 |
+
0.24028508722070796
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_25": {
|
| 107 |
+
"confidence": 0.9161233305931091,
|
| 108 |
+
"position": [
|
| 109 |
+
0.021897225989960134,
|
| 110 |
+
0.03664529320667498,
|
| 111 |
+
0.11580513417720795
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
+
"w": 0.08345180206790076,
|
| 115 |
+
"xyz": [
|
| 116 |
+
-0.11526193681020279,
|
| 117 |
+
-0.9658818233913735,
|
| 118 |
+
0.21638573404117095
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"grasp_26": {
|
| 123 |
+
"confidence": 0.911038339138031,
|
| 124 |
+
"position": [
|
| 125 |
+
-0.059898555860854685,
|
| 126 |
+
0.006038890656782314,
|
| 127 |
+
0.10451089590787888
|
| 128 |
+
],
|
| 129 |
+
"orientation": {
|
| 130 |
+
"w": 0.2030342259770957,
|
| 131 |
+
"xyz": [
|
| 132 |
+
-0.5962919825496054,
|
| 133 |
+
0.7509199995496063,
|
| 134 |
+
-0.19832329390508346
|
| 135 |
+
]
|
| 136 |
+
}
|
| 137 |
+
},
|
| 138 |
+
"grasp_27": {
|
| 139 |
+
"confidence": 0.9105905890464783,
|
| 140 |
+
"position": [
|
| 141 |
+
0.029562118812464178,
|
| 142 |
+
0.05585477498243563,
|
| 143 |
+
0.1070866733789444
|
| 144 |
+
],
|
| 145 |
+
"orientation": {
|
| 146 |
+
"w": 0.0949319158392482,
|
| 147 |
+
"xyz": [
|
| 148 |
+
-0.17821648801438617,
|
| 149 |
+
-0.9355960673778319,
|
| 150 |
+
0.2896322037723756
|
| 151 |
+
]
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"grasp_28": {
|
| 155 |
+
"confidence": 0.9091243147850037,
|
| 156 |
+
"position": [
|
| 157 |
+
-0.05755307583604008,
|
| 158 |
+
-0.008626055932836607,
|
| 159 |
+
0.10722777992486954
|
| 160 |
+
],
|
| 161 |
+
"orientation": {
|
| 162 |
+
"w": 0.21416001814361943,
|
| 163 |
+
"xyz": [
|
| 164 |
+
-0.6743492693979368,
|
| 165 |
+
0.6883747882701341,
|
| 166 |
+
-0.15977703328464182
|
| 167 |
+
]
|
| 168 |
+
}
|
| 169 |
+
},
|
| 170 |
+
"grasp_29": {
|
| 171 |
+
"confidence": 0.9070282578468323,
|
| 172 |
+
"position": [
|
| 173 |
+
0.015823831199668348,
|
| 174 |
+
-0.04891039434005506,
|
| 175 |
+
0.11092834174633026
|
| 176 |
+
],
|
| 177 |
+
"orientation": {
|
| 178 |
+
"w": 0.0865970495165362,
|
| 179 |
+
"xyz": [
|
| 180 |
+
-0.008531358193349263,
|
| 181 |
+
-0.9690755244647116,
|
| 182 |
+
-0.23091295941512652
|
| 183 |
+
]
|
| 184 |
+
}
|
| 185 |
+
},
|
| 186 |
+
"grasp_30": {
|
| 187 |
+
"confidence": 0.9066119194030762,
|
| 188 |
+
"position": [
|
| 189 |
+
-0.09139457775745541,
|
| 190 |
+
-0.025635235040681437,
|
| 191 |
+
0.06256231665611267
|
| 192 |
+
],
|
| 193 |
+
"orientation": {
|
| 194 |
+
"w": 0.44272654926825133,
|
| 195 |
+
"xyz": [
|
| 196 |
+
-0.631705602067412,
|
| 197 |
+
0.5613252260579471,
|
| 198 |
+
-0.2997586120208555
|
| 199 |
+
]
|
| 200 |
+
}
|
| 201 |
+
},
|
| 202 |
+
"grasp_31": {
|
| 203 |
+
"confidence": 0.9036394357681274,
|
| 204 |
+
"position": [
|
| 205 |
+
-0.07705776079092175,
|
| 206 |
+
-0.045844633161323145,
|
| 207 |
+
0.07565047219395638
|
| 208 |
+
],
|
| 209 |
+
"orientation": {
|
| 210 |
+
"w": 0.1984670912146197,
|
| 211 |
+
"xyz": [
|
| 212 |
+
0.5181369440151791,
|
| 213 |
+
0.7046247618403162,
|
| 214 |
+
0.4423221291693389
|
| 215 |
+
]
|
| 216 |
+
}
|
| 217 |
+
},
|
| 218 |
+
"grasp_32": {
|
| 219 |
+
"confidence": 0.9028916358947754,
|
| 220 |
+
"position": [
|
| 221 |
+
-0.009285699226893485,
|
| 222 |
+
0.01842960898648016,
|
| 223 |
+
0.11888362467288971
|
| 224 |
+
],
|
| 225 |
+
"orientation": {
|
| 226 |
+
"w": 0.08897058876508118,
|
| 227 |
+
"xyz": [
|
| 228 |
+
0.9888317712598783,
|
| 229 |
+
0.1145190297995683,
|
| 230 |
+
0.03437083495657717
|
| 231 |
+
]
|
| 232 |
+
}
|
| 233 |
+
},
|
| 234 |
+
"grasp_33": {
|
| 235 |
+
"confidence": 0.9023095965385437,
|
| 236 |
+
"position": [
|
| 237 |
+
-0.10134055896196514,
|
| 238 |
+
0.00904238034854643,
|
| 239 |
+
0.06329546123743057
|
| 240 |
+
],
|
| 241 |
+
"orientation": {
|
| 242 |
+
"w": 0.3894040341122789,
|
| 243 |
+
"xyz": [
|
| 244 |
+
0.6379506793026377,
|
| 245 |
+
0.5536622799985201,
|
| 246 |
+
0.3672077187386262
|
| 247 |
+
]
|
| 248 |
+
}
|
| 249 |
+
},
|
| 250 |
+
"grasp_34": {
|
| 251 |
+
"confidence": 0.9007865190505981,
|
| 252 |
+
"position": [
|
| 253 |
+
-0.10717131628189236,
|
| 254 |
+
-0.03253085914184339,
|
| 255 |
+
0.037469981238245964
|
| 256 |
+
],
|
| 257 |
+
"orientation": {
|
| 258 |
+
"w": 0.5244435769708229,
|
| 259 |
+
"xyz": [
|
| 260 |
+
-0.6034888564581032,
|
| 261 |
+
0.4818564688950302,
|
| 262 |
+
-0.35857283512412436
|
| 263 |
+
]
|
| 264 |
+
}
|
| 265 |
+
},
|
| 266 |
+
"grasp_35": {
|
| 267 |
+
"confidence": 0.900560736656189,
|
| 268 |
+
"position": [
|
| 269 |
+
-0.04917972593102604,
|
| 270 |
+
-0.012458995945053175,
|
| 271 |
+
0.10945530980825424
|
| 272 |
+
],
|
| 273 |
+
"orientation": {
|
| 274 |
+
"w": 0.13512899400018683,
|
| 275 |
+
"xyz": [
|
| 276 |
+
0.6832557845147493,
|
| 277 |
+
0.6856974816112963,
|
| 278 |
+
0.21147257888331145
|
| 279 |
+
]
|
| 280 |
+
}
|
| 281 |
+
},
|
| 282 |
+
"grasp_36": {
|
| 283 |
+
"confidence": 0.8994299173355103,
|
| 284 |
+
"position": [
|
| 285 |
+
0.02163052128162235,
|
| 286 |
+
-0.05742938446928747,
|
| 287 |
+
0.10037766396999359
|
| 288 |
+
],
|
| 289 |
+
"orientation": {
|
| 290 |
+
"w": 0.06022557550344834,
|
| 291 |
+
"xyz": [
|
| 292 |
+
0.17588078598446,
|
| 293 |
+
-0.9394042128910542,
|
| 294 |
+
-0.2880252662168817
|
| 295 |
+
]
|
| 296 |
+
}
|
| 297 |
+
},
|
| 298 |
+
"grasp_37": {
|
| 299 |
+
"confidence": 0.8989943265914917,
|
| 300 |
+
"position": [
|
| 301 |
+
0.022298268391750753,
|
| 302 |
+
0.03729787838528864,
|
| 303 |
+
0.11028371006250381
|
| 304 |
+
],
|
| 305 |
+
"orientation": {
|
| 306 |
+
"w": 0.0681954977434288,
|
| 307 |
+
"xyz": [
|
| 308 |
+
-0.25045326747917307,
|
| 309 |
+
-0.9356186557802945,
|
| 310 |
+
0.2392493800460237
|
| 311 |
+
]
|
| 312 |
+
}
|
| 313 |
+
},
|
| 314 |
+
"grasp_38": {
|
| 315 |
+
"confidence": 0.8985801935195923,
|
| 316 |
+
"position": [
|
| 317 |
+
0.03111550898756832,
|
| 318 |
+
0.02119585868786089,
|
| 319 |
+
0.12025757133960724
|
| 320 |
+
],
|
| 321 |
+
"orientation": {
|
| 322 |
+
"w": 0.11874091564962191,
|
| 323 |
+
"xyz": [
|
| 324 |
+
-0.2622572399610771,
|
| 325 |
+
-0.9451114944558838,
|
| 326 |
+
0.15455095627673338
|
| 327 |
+
]
|
| 328 |
+
}
|
| 329 |
+
},
|
| 330 |
+
"grasp_39": {
|
| 331 |
+
"confidence": 0.8965920805931091,
|
| 332 |
+
"position": [
|
| 333 |
+
0.061555977328680456,
|
| 334 |
+
-0.06815027075936086,
|
| 335 |
+
0.06939168646931648
|
| 336 |
+
],
|
| 337 |
+
"orientation": {
|
| 338 |
+
"w": 0.47095836425352317,
|
| 339 |
+
"xyz": [
|
| 340 |
+
-0.8020432432397733,
|
| 341 |
+
-0.3225350752114611,
|
| 342 |
+
0.1757725245065582
|
| 343 |
+
]
|
| 344 |
+
}
|
| 345 |
+
}
|
| 346 |
+
}
|
| 347 |
+
},
|
| 348 |
+
{
|
| 349 |
+
"part_name": "mushroom stem",
|
| 350 |
+
"mask_color": "Red",
|
| 351 |
+
"graspable": true,
|
| 352 |
+
"grasp_scenarios": [
|
| 353 |
+
{
|
| 354 |
+
"scenario": "grasp the stem to lift and move the mushroom",
|
| 355 |
+
"confidence": 0.91
|
| 356 |
+
},
|
| 357 |
+
{
|
| 358 |
+
"scenario": "hold the stem to orient the mushroom upright",
|
| 359 |
+
"confidence": 0.87
|
| 360 |
+
}
|
| 361 |
+
],
|
| 362 |
+
"functional_labels": [
|
| 363 |
+
"support the cap",
|
| 364 |
+
"connect cap to base",
|
| 365 |
+
"provide a central grip",
|
| 366 |
+
"elevate the gill surface"
|
| 367 |
+
],
|
| 368 |
+
"semantic_description": "Thick pale beige stem with a matte finely fibrous surface and firm texture, centered beneath the cap and tapering slightly toward a darker base end.",
|
| 369 |
+
"id": 0,
|
| 370 |
+
"grasp_group": {
|
| 371 |
+
"grasp_10": {
|
| 372 |
+
"confidence": 0.9797144532203674,
|
| 373 |
+
"position": [
|
| 374 |
+
-0.07917757763061672,
|
| 375 |
+
-0.046707313536899164,
|
| 376 |
+
-0.06922788172960281
|
| 377 |
+
],
|
| 378 |
+
"orientation": {
|
| 379 |
+
"w": 0.7321715192444967,
|
| 380 |
+
"xyz": [
|
| 381 |
+
-0.4466650884220319,
|
| 382 |
+
0.2522852311473158,
|
| 383 |
+
-0.4480706722572791
|
| 384 |
+
]
|
| 385 |
+
}
|
| 386 |
+
},
|
| 387 |
+
"grasp_14": {
|
| 388 |
+
"confidence": 0.9794597029685974,
|
| 389 |
+
"position": [
|
| 390 |
+
-0.06839321239385754,
|
| 391 |
+
-0.04307315874029882,
|
| 392 |
+
-0.07952062040567398
|
| 393 |
+
],
|
| 394 |
+
"orientation": {
|
| 395 |
+
"w": 0.7723043485036429,
|
| 396 |
+
"xyz": [
|
| 397 |
+
-0.4170395531007431,
|
| 398 |
+
0.2499190391530698,
|
| 399 |
+
-0.40885752812037546
|
| 400 |
+
]
|
| 401 |
+
}
|
| 402 |
+
}
|
| 403 |
+
}
|
| 404 |
+
},
|
| 405 |
+
{
|
| 406 |
+
"part_name": "gills",
|
| 407 |
+
"mask_color": "Green",
|
| 408 |
+
"graspable": false,
|
| 409 |
+
"grasp_scenarios": [],
|
| 410 |
+
"functional_labels": [
|
| 411 |
+
"produce and release spores",
|
| 412 |
+
"form the underside spore surface",
|
| 413 |
+
"provide underside structure"
|
| 414 |
+
],
|
| 415 |
+
"semantic_description": "Thin radial beige gills on the cap underside with a matte delicate ribbed texture, arranged in dense lines around the upper stem beneath the cap.",
|
| 416 |
+
"id": 1,
|
| 417 |
+
"grasp_group": {}
|
| 418 |
+
}
|
| 419 |
+
],
|
| 420 |
+
"quality_check": {
|
| 421 |
+
"success": true,
|
| 422 |
+
"message": "YES"
|
| 423 |
+
}
|
| 424 |
+
}
|
dataset/food/ingredients/b86f91e151d15aa9a484f057b3c5fd1e/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0b066d0207812e43abff2a9fc9e3ee4a4dd3787bb4d275cd25c867644b7a02a9
|
| 3 |
+
size 1179512
|