Add asset food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec
Browse files
.gitattributes
CHANGED
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@@ -6752,4 +6752,4 @@ dataset/food/fruits/db5c2fb9ae6b576ea474d58ab5feecf7/affordance/mesh_part_seg.gl
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| 6752 |
dataset/food/fruits/e04fad3186575b67b250dd1684766ac1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6753 |
dataset/food/fruits/e50ae9f8df2d5678a645e314cc98ad8c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6754 |
dataset/food/fruits/e65ef8d7c2d85fd4860667ea48873c41/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6755 |
-
dataset/food/fruits/
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| 6752 |
dataset/food/fruits/e04fad3186575b67b250dd1684766ac1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6753 |
dataset/food/fruits/e50ae9f8df2d5678a645e314cc98ad8c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6754 |
dataset/food/fruits/e65ef8d7c2d85fd4860667ea48873c41/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6755 |
+
dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,474 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "body of strawberry",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the strawberry body to pick up and move the fruit",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize the fruit during inspection or placement",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"main grasp surface",
|
| 19 |
+
"contain edible flesh",
|
| 20 |
+
"provide bulk of the fruit",
|
| 21 |
+
"support handling and placement"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large conical strawberry body with very pale pink glossy food skin, a smooth slightly dimpled surface, many small yellow seeds, and a firm fleshy texture forming most of the fruit.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_0": {
|
| 27 |
+
"confidence": 0.9843853116035461,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.10261825076304376,
|
| 30 |
+
0.004963558167219162,
|
| 31 |
+
0.005753296660259366
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.09197326818173907,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.7135082635553812,
|
| 37 |
+
0.11033649039693383,
|
| 38 |
+
-0.685764343389945
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_1": {
|
| 43 |
+
"confidence": 0.9832793474197388,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.09771625301800668,
|
| 46 |
+
-0.02880610805004835,
|
| 47 |
+
0.020983270136639476
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.597851413988418,
|
| 51 |
+
"xyz": [
|
| 52 |
+
0.03165771898185285,
|
| 53 |
+
0.7767539058751985,
|
| 54 |
+
0.19551175240516358
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_3": {
|
| 59 |
+
"confidence": 0.9826854467391968,
|
| 60 |
+
"position": [
|
| 61 |
+
-0.10158960125409067,
|
| 62 |
+
0.011958234012126923,
|
| 63 |
+
-0.005019906209781766
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.05603150339327359,
|
| 67 |
+
"xyz": [
|
| 68 |
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-0.6691700632152935,
|
| 69 |
+
0.11340238133547353,
|
| 70 |
+
-0.732264840772363
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_4": {
|
| 75 |
+
"confidence": 0.9821591973304749,
|
| 76 |
+
"position": [
|
| 77 |
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-0.10331675014458597,
|
| 78 |
+
0.0017631440423429012,
|
| 79 |
+
-0.009589254157617688
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.7241009259593297,
|
| 83 |
+
"xyz": [
|
| 84 |
+
0.12333471582993567,
|
| 85 |
+
0.6677252775608059,
|
| 86 |
+
0.1208691466104351
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_5": {
|
| 91 |
+
"confidence": 0.9820090532302856,
|
| 92 |
+
"position": [
|
| 93 |
+
-0.10094862780533731,
|
| 94 |
+
0.007572307018563151,
|
| 95 |
+
0.0059491116553545
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.10241966482935644,
|
| 99 |
+
"xyz": [
|
| 100 |
+
-0.7015901629869185,
|
| 101 |
+
0.1357714237062453,
|
| 102 |
+
-0.6919881328180494
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_6": {
|
| 107 |
+
"confidence": 0.9819453358650208,
|
| 108 |
+
"position": [
|
| 109 |
+
-0.09824849269352853,
|
| 110 |
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-0.010420148260891438,
|
| 111 |
+
0.029269904596731067
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
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"w": 0.15791148601844301,
|
| 115 |
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"xyz": [
|
| 116 |
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-0.7906531079280219,
|
| 117 |
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0.11835211018113068,
|
| 118 |
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-0.5795898580227921
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"grasp_7": {
|
| 123 |
+
"confidence": 0.9817388653755188,
|
| 124 |
+
"position": [
|
| 125 |
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-0.10094023845158517,
|
| 126 |
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0.004521042108535767,
|
| 127 |
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-0.0035865253303200006
|
| 128 |
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],
|
| 129 |
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"orientation": {
|
| 130 |
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"w": 0.7125736125957028,
|
| 131 |
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"xyz": [
|
| 132 |
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|
| 133 |
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0.6663661547276327,
|
| 134 |
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|
| 135 |
+
]
|
| 136 |
+
}
|
| 137 |
+
},
|
| 138 |
+
"grasp_9": {
|
| 139 |
+
"confidence": 0.9815017580986023,
|
| 140 |
+
"position": [
|
| 141 |
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-0.1036884447094053,
|
| 142 |
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0.0077364465687423944,
|
| 143 |
+
-0.00739583489485085
|
| 144 |
+
],
|
| 145 |
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"orientation": {
|
| 146 |
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"w": 0.7313309339770393,
|
| 147 |
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"xyz": [
|
| 148 |
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0.1363420281675501,
|
| 149 |
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0.663391583707933,
|
| 150 |
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0.0804830605091003
|
| 151 |
+
]
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"grasp_10": {
|
| 155 |
+
"confidence": 0.9814329743385315,
|
| 156 |
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"position": [
|
| 157 |
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-0.10036390624009073,
|
| 158 |
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-0.0017843805253505707,
|
| 159 |
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0.016181535786017776
|
| 160 |
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],
|
| 161 |
+
"orientation": {
|
| 162 |
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dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:42c31564f85095bce1ab9421815a30eb7a3ab0c19ba465cd00798a2ec21bbd6e
|
| 3 |
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size 3774744
|
dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/strawberry_010.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 |
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 58 |
</affordance>
|
| 59 |
<quality>
|
| 60 |
<PartSegChecker>YES</PartSegChecker>
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