xinjjj commited on
Commit
d8be483
·
verified ·
1 Parent(s): 0e94f3f

Add asset food/ingredients/4fd01769190b5f57b43609c69c175401

Browse files
.gitattributes CHANGED
@@ -6786,3 +6786,4 @@ dataset/food/ingredients/43b8971eeddc574aab3c198455811b61/affordance/mesh_part_s
6786
  dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6787
  dataset/food/ingredients/45d4fda4ddd75c9fb8eca992e39f823a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6788
  dataset/food/ingredients/4d0ccd2d65f9534f86ca60fef24f3f08/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6786
  dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6787
  dataset/food/ingredients/45d4fda4ddd75c9fb8eca992e39f823a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6788
  dataset/food/ingredients/4d0ccd2d65f9534f86ca60fef24f3f08/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6789
+ dataset/food/ingredients/4fd01769190b5f57b43609c69c175401/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/food/ingredients/4fd01769190b5f57b43609c69c175401/affordance/affordance_annot.json ADDED
@@ -0,0 +1,270 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "radish root body",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the main root body to pick up and move the radish",
10
+ "confidence": 0.98
11
+ },
12
+ {
13
+ "scenario": "hold the thicker middle-to-top portion to stabilize it during cutting or peeling",
14
+ "confidence": 0.92
15
+ },
16
+ {
17
+ "scenario": "grasp the broader top end of the root body for orientation control",
18
+ "confidence": 0.88
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "edible root portion",
24
+ "support cutting and peeling",
25
+ "provide bulk for handling",
26
+ "indicate top-to-tip orientation"
27
+ ],
28
+ "semantic_description": "Long tapered white root body with a matte smooth skin, faint shallow ridges, a thicker rounded top, and a narrow pointed tip.",
29
+ "id": 1,
30
+ "grasp_group": {
31
+ "grasp_14": {
32
+ "confidence": 0.9915263056755066,
33
+ "position": [
34
+ 0.09670195257058367,
35
+ -0.01564389606937766,
36
+ 0.02491793764056638
37
+ ],
38
+ "orientation": {
39
+ "w": 0.017795654834104106,
40
+ "xyz": [
41
+ 0.7916813844949854,
42
+ 0.031034733772521306,
43
+ -0.6098858462145171
44
+ ]
45
+ }
46
+ },
47
+ "grasp_15": {
48
+ "confidence": 0.9914775490760803,
49
+ "position": [
50
+ 0.09492563729872927,
51
+ -0.0022715190425515175,
52
+ 0.03429288027109578
53
+ ],
54
+ "orientation": {
55
+ "w": 0.012800180813685771,
56
+ "xyz": [
57
+ 0.816879020055079,
58
+ 0.0032634555680047805,
59
+ -0.5766577597004537
60
+ ]
61
+ }
62
+ },
63
+ "grasp_16": {
64
+ "confidence": 0.9914333820343018,
65
+ "position": [
66
+ 0.0944091779529117,
67
+ -0.015117613598704338,
68
+ 0.03520233166636899
69
+ ],
70
+ "orientation": {
71
+ "w": 0.008871513824630953,
72
+ "xyz": [
73
+ 0.8233905863294984,
74
+ 0.019610404416726124,
75
+ -0.5670667250201131
76
+ ]
77
+ }
78
+ },
79
+ "grasp_17": {
80
+ "confidence": 0.9911136031150818,
81
+ "position": [
82
+ 0.09219523047795519,
83
+ 0.002125456929206848,
84
+ 0.04101697338046506
85
+ ],
86
+ "orientation": {
87
+ "w": 0.05979172084789731,
88
+ "xyz": [
89
+ 0.8343528388637705,
90
+ -0.025876279262478707,
91
+ -0.547367069314134
92
+ ]
93
+ }
94
+ },
95
+ "grasp_18": {
96
+ "confidence": 0.9910041093826294,
97
+ "position": [
98
+ 0.09986350213875994,
99
+ 0.020720340311527252,
100
+ 0.020218457852024585
101
+ ],
102
+ "orientation": {
103
+ "w": 0.024083626174658913,
104
+ "xyz": [
105
+ 0.7698420062421134,
106
+ -0.028512922398520768,
107
+ -0.6371422742462577
108
+ ]
109
+ }
110
+ },
111
+ "grasp_19": {
112
+ "confidence": 0.9908766150474548,
113
+ "position": [
114
+ 0.09501900797476992,
115
+ 0.013280108571052551,
116
+ -0.03052974509773776
117
+ ],
118
+ "orientation": {
119
+ "w": 0.015882496268098286,
120
+ "xyz": [
121
+ -0.5852790092454744,
122
+ 0.010400061659521453,
123
+ 0.8106096880536326
124
+ ]
125
+ }
126
+ },
127
+ "grasp_20": {
128
+ "confidence": 0.990708589553833,
129
+ "position": [
130
+ 0.09123278682818636,
131
+ -0.06599882990121841,
132
+ -0.032519504602532834
133
+ ],
134
+ "orientation": {
135
+ "w": 0.11184411643795115,
136
+ "xyz": [
137
+ -0.5813051889181151,
138
+ 0.08562562052544276,
139
+ 0.8014009134414073
140
+ ]
141
+ }
142
+ },
143
+ "grasp_22": {
144
+ "confidence": 0.9903131723403931,
145
+ "position": [
146
+ 0.08818476175656542,
147
+ -0.03927777148783207,
148
+ -0.03853039460955188
149
+ ],
150
+ "orientation": {
151
+ "w": 0.11869901571814248,
152
+ "xyz": [
153
+ -0.5331119240554909,
154
+ 0.12986585733843203,
155
+ 0.8275488379516649
156
+ ]
157
+ }
158
+ },
159
+ "grasp_23": {
160
+ "confidence": 0.9902309775352478,
161
+ "position": [
162
+ 0.09003782545914873,
163
+ -0.021947940811514854,
164
+ 0.03827918303431943
165
+ ],
166
+ "orientation": {
167
+ "w": 0.05263763227322801,
168
+ "xyz": [
169
+ 0.8347023586881602,
170
+ 0.06191232397653079,
171
+ -0.5446724852688225
172
+ ]
173
+ }
174
+ },
175
+ "grasp_24": {
176
+ "confidence": 0.9901267290115356,
177
+ "position": [
178
+ 0.0950922173797153,
179
+ 0.036096762865781784,
180
+ 0.027798469935078174
181
+ ],
182
+ "orientation": {
183
+ "w": 0.08456438086693058,
184
+ "xyz": [
185
+ 0.7964144103883609,
186
+ 0.07703370391120634,
187
+ -0.5938339505923124
188
+ ]
189
+ }
190
+ },
191
+ "grasp_25": {
192
+ "confidence": 0.9900010824203491,
193
+ "position": [
194
+ -0.09382822090992704,
195
+ -0.05623728409409523,
196
+ 0.027753049333114177
197
+ ],
198
+ "orientation": {
199
+ "w": 0.04012099367500452,
200
+ "xyz": [
201
+ 0.7908360505635617,
202
+ 0.04221093157368028,
203
+ 0.6092510847353823
204
+ ]
205
+ }
206
+ },
207
+ "grasp_28": {
208
+ "confidence": 0.9894669651985168,
209
+ "position": [
210
+ 0.07595535641303286,
211
+ -0.06195675954222679,
212
+ 0.06182558444561437
213
+ ],
214
+ "orientation": {
215
+ "w": 0.021506873095220546,
216
+ "xyz": [
217
+ -0.90888982391557,
218
+ -0.02434079289416513,
219
+ 0.4157694892529675
220
+ ]
221
+ }
222
+ },
223
+ "grasp_29": {
224
+ "confidence": 0.9894587993621826,
225
+ "position": [
226
+ 0.09913847869029269,
227
+ 0.023112375289201736,
228
+ -0.005402993119787425
229
+ ],
230
+ "orientation": {
231
+ "w": 0.02712770674951413,
232
+ "xyz": [
233
+ 0.677959563452191,
234
+ 0.00730086703242161,
235
+ -0.7345621928678342
236
+ ]
237
+ }
238
+ }
239
+ }
240
+ },
241
+ {
242
+ "part_name": "stem stub",
243
+ "mask_color": "Red",
244
+ "graspable": true,
245
+ "grasp_scenarios": [
246
+ {
247
+ "scenario": "delicately pinch the small stem stub to orient the radish",
248
+ "confidence": 0.32
249
+ },
250
+ {
251
+ "scenario": "use the stem stub as a minor pulling point when separating the radish from nearby produce",
252
+ "confidence": 0.27
253
+ }
254
+ ],
255
+ "functional_labels": [
256
+ "remnant of former leafy top",
257
+ "indicate top end",
258
+ "provide minor pulling point",
259
+ "mark orientation"
260
+ ],
261
+ "semantic_description": "Small pale green stem remnant at the thick top end, with a matte slightly rough fibrous surface and short knobby cylindrical shape.",
262
+ "id": 0,
263
+ "grasp_group": {}
264
+ }
265
+ ],
266
+ "quality_check": {
267
+ "success": true,
268
+ "message": "YES"
269
+ }
270
+ }
dataset/food/ingredients/4fd01769190b5f57b43609c69c175401/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6d80a860bdf674b0702436e891529cca42f8cb52c7f229a6381efa419923e3ea
3
+ size 3778480