Add asset food/ingredients/1a617a85f7d55318a48c205edfaa2f96
Browse files
.gitattributes
CHANGED
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@@ -6770,3 +6770,4 @@ dataset/food/ingredients/12be18dbcec15d36881c47e9f6d0788e/affordance/mesh_part_s
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| 6770 |
dataset/food/ingredients/002600a16f2a5b839ce550cf4223a21e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6771 |
dataset/food/ingredients/144658c3151252abaa586a4da1df8064/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6772 |
dataset/food/ingredients/14a5d9f1dbc950368033ec4eaed1a4f9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6770 |
dataset/food/ingredients/002600a16f2a5b839ce550cf4223a21e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6771 |
dataset/food/ingredients/144658c3151252abaa586a4da1df8064/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6772 |
dataset/food/ingredients/14a5d9f1dbc950368033ec4eaed1a4f9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6773 |
+
dataset/food/ingredients/1a617a85f7d55318a48c205edfaa2f96/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/ingredients/1a617a85f7d55318a48c205edfaa2f96/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,348 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "body of onion",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the onion body to pick it up",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the onion body steady during cutting or peeling",
|
| 14 |
+
"confidence": 0.92
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "reorient the onion by clamping around its sides",
|
| 18 |
+
"confidence": 0.89
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"contain edible layers",
|
| 24 |
+
"support peeling",
|
| 25 |
+
"support cutting",
|
| 26 |
+
"provide bulk shape"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large round bulb with purple-red food skin, a slightly glossy smooth papery surface, fine vertical striations, and a firm broad form making up nearly the entire onion.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
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"grasp_0": {
|
| 32 |
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"confidence": 0.9005188941955566,
|
| 33 |
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"position": [
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| 34 |
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|
| 35 |
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-0.013700399198569357,
|
| 36 |
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0.1264085997827351
|
| 37 |
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],
|
| 38 |
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"orientation": {
|
| 39 |
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"w": 0.08370234011860735,
|
| 40 |
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"xyz": [
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| 41 |
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|
| 42 |
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-0.13924694362834733,
|
| 43 |
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|
| 44 |
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]
|
| 45 |
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}
|
| 46 |
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},
|
| 47 |
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"grasp_1": {
|
| 48 |
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"confidence": 0.8955631256103516,
|
| 49 |
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"position": [
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| 50 |
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| 51 |
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|
| 52 |
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| 53 |
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],
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| 54 |
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"orientation": {
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| 55 |
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"w": 0.09776751942763053,
|
| 56 |
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"xyz": [
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| 57 |
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| 58 |
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| 59 |
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|
| 60 |
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]
|
| 61 |
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}
|
| 62 |
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},
|
| 63 |
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"grasp_4": {
|
| 64 |
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"confidence": 0.8793460726737976,
|
| 65 |
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"position": [
|
| 66 |
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|
| 67 |
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-0.10339203907642514,
|
| 68 |
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-0.05402071354910731
|
| 69 |
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],
|
| 70 |
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"orientation": {
|
| 71 |
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"w": 0.7960050887384811,
|
| 72 |
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"xyz": [
|
| 73 |
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|
| 74 |
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-0.02424470987926186,
|
| 75 |
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|
| 76 |
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]
|
| 77 |
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}
|
| 78 |
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},
|
| 79 |
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"grasp_5": {
|
| 80 |
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"confidence": 0.8692606687545776,
|
| 81 |
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"position": [
|
| 82 |
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|
| 83 |
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0.02151303121354431,
|
| 84 |
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|
| 85 |
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],
|
| 86 |
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"orientation": {
|
| 87 |
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"w": 0.06405443166788366,
|
| 88 |
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"xyz": [
|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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]
|
| 93 |
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}
|
| 94 |
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},
|
| 95 |
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"grasp_6": {
|
| 96 |
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"confidence": 0.8683628439903259,
|
| 97 |
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"position": [
|
| 98 |
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|
| 99 |
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0.06407093571033329,
|
| 100 |
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|
| 101 |
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],
|
| 102 |
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"orientation": {
|
| 103 |
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"w": 0.09252511569283603,
|
| 104 |
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"xyz": [
|
| 105 |
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|
| 106 |
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0.8418214433022604,
|
| 107 |
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|
| 108 |
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]
|
| 109 |
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}
|
| 110 |
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},
|
| 111 |
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"grasp_7": {
|
| 112 |
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"confidence": 0.8670645952224731,
|
| 113 |
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"position": [
|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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],
|
| 118 |
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"orientation": {
|
| 119 |
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"w": 0.11264962188762094,
|
| 120 |
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"xyz": [
|
| 121 |
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-0.9360176099932054,
|
| 122 |
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-0.2840992182278222,
|
| 123 |
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|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_8": {
|
| 128 |
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"confidence": 0.8659676909446716,
|
| 129 |
+
"position": [
|
| 130 |
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0.018505284562706947,
|
| 131 |
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-0.0006312869300018065,
|
| 132 |
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0.1315508265979588
|
| 133 |
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],
|
| 134 |
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"orientation": {
|
| 135 |
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"w": 0.09458776139612422,
|
| 136 |
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"xyz": [
|
| 137 |
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0.27959987415794946,
|
| 138 |
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-0.9549234090719912,
|
| 139 |
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-0.03159665443138443
|
| 140 |
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]
|
| 141 |
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}
|
| 142 |
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},
|
| 143 |
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"grasp_9": {
|
| 144 |
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"confidence": 0.8612238764762878,
|
| 145 |
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"position": [
|
| 146 |
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-0.06444858573377132,
|
| 147 |
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0.04971438960637897,
|
| 148 |
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0.08414144860580564
|
| 149 |
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],
|
| 150 |
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"orientation": {
|
| 151 |
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"w": 0.17882397657352192,
|
| 152 |
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"xyz": [
|
| 153 |
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-0.4668322361300064,
|
| 154 |
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0.7326455575389841,
|
| 155 |
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-0.4618659283067785
|
| 156 |
+
]
|
| 157 |
+
}
|
| 158 |
+
}
|
| 159 |
+
}
|
| 160 |
+
},
|
| 161 |
+
{
|
| 162 |
+
"part_name": "stem tuft of onion",
|
| 163 |
+
"mask_color": "Blue",
|
| 164 |
+
"graspable": true,
|
| 165 |
+
"grasp_scenarios": [
|
| 166 |
+
{
|
| 167 |
+
"scenario": "delicately grasp the dried stem tuft to orient the onion",
|
| 168 |
+
"confidence": 0.34
|
| 169 |
+
},
|
| 170 |
+
{
|
| 171 |
+
"scenario": "lightly hold the stem tuft while peeling the outer skin",
|
| 172 |
+
"confidence": 0.27
|
| 173 |
+
}
|
| 174 |
+
],
|
| 175 |
+
"functional_labels": [
|
| 176 |
+
"indicate top orientation",
|
| 177 |
+
"remnant of plant attachment",
|
| 178 |
+
"assist peeling orientation"
|
| 179 |
+
],
|
| 180 |
+
"semantic_description": "Small dried brown fibrous stem tuft at the top, with a matte rough papery texture and irregular pointed shape protruding slightly from the bulb.",
|
| 181 |
+
"id": 2,
|
| 182 |
+
"grasp_group": {
|
| 183 |
+
"grasp_20": {
|
| 184 |
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"confidence": 0.7561215162277222,
|
| 185 |
+
"position": [
|
| 186 |
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-0.019249219447374344,
|
| 187 |
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-0.01255402120295912,
|
| 188 |
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0.13504154281690717
|
| 189 |
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],
|
| 190 |
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"orientation": {
|
| 191 |
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"w": 0.061365837873956997,
|
| 192 |
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"xyz": [
|
| 193 |
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0.7169826459683522,
|
| 194 |
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0.6765341463755177,
|
| 195 |
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0.15643422934318704
|
| 196 |
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]
|
| 197 |
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}
|
| 198 |
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},
|
| 199 |
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"grasp_22": {
|
| 200 |
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"confidence": 0.6678899526596069,
|
| 201 |
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"position": [
|
| 202 |
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0.00934026762843132,
|
| 203 |
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0.018523865728639066,
|
| 204 |
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0.14152661757543683
|
| 205 |
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],
|
| 206 |
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"orientation": {
|
| 207 |
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"w": 0.06625749450318162,
|
| 208 |
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"xyz": [
|
| 209 |
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0.6864260506635007,
|
| 210 |
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|
| 211 |
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0.0666047767085521
|
| 212 |
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]
|
| 213 |
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}
|
| 214 |
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},
|
| 215 |
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"grasp_23": {
|
| 216 |
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"confidence": 0.5632073283195496,
|
| 217 |
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"position": [
|
| 218 |
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0.006985989864915609,
|
| 219 |
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0.043404075666330755,
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| 220 |
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|
| 221 |
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],
|
| 222 |
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|
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|
| 328 |
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},
|
| 329 |
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{
|
| 330 |
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"part_name": "root end of onion",
|
| 331 |
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"mask_color": "Green",
|
| 332 |
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|
| 333 |
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|
| 334 |
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"functional_labels": [
|
| 335 |
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"indicate bottom orientation",
|
| 336 |
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"root attachment remnant",
|
| 337 |
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"hold onion layers together"
|
| 338 |
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],
|
| 339 |
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"semantic_description": "Small brown root scar at the bottom, with a dry rough fibrous texture, matte finish, and compact circular patch recessed into the base of the onion.",
|
| 340 |
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|
| 341 |
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|
| 342 |
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}
|
| 343 |
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],
|
| 344 |
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"quality_check": {
|
| 345 |
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"success": true,
|
| 346 |
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"message": "YES"
|
| 347 |
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}
|
| 348 |
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}
|
dataset/food/ingredients/1a617a85f7d55318a48c205edfaa2f96/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:bde0adc32acbf07e43a45ba4b79a41aaaddb11e003d1079d33a819bef48853eb
|
| 3 |
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size 778024
|