Add asset food/ingredients/22f37dfd4aed546a880aefc229a2f030
Browse files
.gitattributes
CHANGED
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@@ -6772,3 +6772,4 @@ dataset/food/ingredients/144658c3151252abaa586a4da1df8064/affordance/mesh_part_s
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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/1d4600807a04582f8b19e3f07a8dca9b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6774 |
dataset/food/ingredients/20100288181959dbac9df60ed60feeb7/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/1d4600807a04582f8b19e3f07a8dca9b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6774 |
dataset/food/ingredients/20100288181959dbac9df60ed60feeb7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6775 |
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dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,1480 @@
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|
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|
|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "stem of garlic",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the dry top stem to lift and reposition the garlic bulb",
|
| 10 |
+
"confidence": 0.72
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the stem to orient the bulb during inspection or trimming",
|
| 14 |
+
"confidence": 0.67
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"connect cloves at the top",
|
| 19 |
+
"provide top attachment point",
|
| 20 |
+
"indicate top orientation",
|
| 21 |
+
"support handling during harvesting or trimming"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Short central beige stem with a dry papery plant texture, matte finish, fibrous rough surface, and a cylindrical cut top protruding from the garlic head.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_9": {
|
| 27 |
+
"confidence": 0.9536774754524231,
|
| 28 |
+
"position": [
|
| 29 |
+
0.08406821574317291,
|
| 30 |
+
-0.028580146841704845,
|
| 31 |
+
-0.05829622730379924
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.6333475706770446,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.42535214205841954,
|
| 37 |
+
-0.24781724699762953,
|
| 38 |
+
0.5971038620326579
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
}
|
| 42 |
+
}
|
| 43 |
+
},
|
| 44 |
+
{
|
| 45 |
+
"part_name": "root base of garlic",
|
| 46 |
+
"mask_color": "Pink",
|
| 47 |
+
"graspable": false,
|
| 48 |
+
"grasp_scenarios": [
|
| 49 |
+
{
|
| 50 |
+
"scenario": "press against the basal plate area to stabilize the bulb from below during inspection",
|
| 51 |
+
"confidence": 0.45
|
| 52 |
+
},
|
| 53 |
+
{
|
| 54 |
+
"scenario": "use the bottom base as a support contact while rotating the bulb on a surface",
|
| 55 |
+
"confidence": 0.41
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"functional_labels": [
|
| 59 |
+
"anchor root end",
|
| 60 |
+
"indicate bottom orientation",
|
| 61 |
+
"hold cloves together at the base",
|
| 62 |
+
"provide a support surface at the bottom"
|
| 63 |
+
],
|
| 64 |
+
"semantic_description": "Round brown basal plate at the bottom with dry woody plant material, matte finish, rough fibrous texture, and irregular edges where roots were removed.",
|
| 65 |
+
"id": 8,
|
| 66 |
+
"grasp_group": {}
|
| 67 |
+
},
|
| 68 |
+
{
|
| 69 |
+
"part_name": "garlic clove",
|
| 70 |
+
"mask_color": "Blue",
|
| 71 |
+
"graspable": true,
|
| 72 |
+
"grasp_scenarios": [
|
| 73 |
+
{
|
| 74 |
+
"scenario": "grasp an outer clove surface to pick up the whole garlic bulb",
|
| 75 |
+
"confidence": 0.69
|
| 76 |
+
},
|
| 77 |
+
{
|
| 78 |
+
"scenario": "hold a clove surface to stabilize the bulb during rotation",
|
| 79 |
+
"confidence": 0.65
|
| 80 |
+
}
|
| 81 |
+
],
|
| 82 |
+
"functional_labels": [
|
| 83 |
+
"outer grasp surface",
|
| 84 |
+
"contain edible flesh",
|
| 85 |
+
"form bulb structure",
|
| 86 |
+
"support peeling and separation"
|
| 87 |
+
],
|
| 88 |
+
"semantic_description": "Large teardrop-shaped off-white clove with smooth matte papery skin, a firm slightly ridged surface, and rounded outer curvature around the bulb exterior.",
|
| 89 |
+
"id": 2,
|
| 90 |
+
"grasp_group": {
|
| 91 |
+
"grasp_41": {
|
| 92 |
+
"confidence": 0.9311484098434448,
|
| 93 |
+
"position": [
|
| 94 |
+
-0.0199823981965892,
|
| 95 |
+
-0.10085503477603197,
|
| 96 |
+
0.04514818132156506
|
| 97 |
+
],
|
| 98 |
+
"orientation": {
|
| 99 |
+
"w": 0.36768760416891494,
|
| 100 |
+
"xyz": [
|
| 101 |
+
-0.6799406008739883,
|
| 102 |
+
-0.4707653969983282,
|
| 103 |
+
-0.4252840768388218
|
| 104 |
+
]
|
| 105 |
+
}
|
| 106 |
+
},
|
| 107 |
+
"grasp_42": {
|
| 108 |
+
"confidence": 0.9308621883392334,
|
| 109 |
+
"position": [
|
| 110 |
+
0.03130682121263817,
|
| 111 |
+
-0.10120717156678438,
|
| 112 |
+
0.04489593819016591
|
| 113 |
+
],
|
| 114 |
+
"orientation": {
|
| 115 |
+
"w": 0.507934375439182,
|
| 116 |
+
"xyz": [
|
| 117 |
+
-0.6420397156524649,
|
| 118 |
+
-0.5380739558184003,
|
| 119 |
+
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"semantic_description": "Smaller partially hidden clove with pale cream papery skin, matte finish, smooth dry texture, and a narrow tapered shape tucked between larger outer cloves.",
|
| 1320 |
+
"id": 7,
|
| 1321 |
+
"grasp_group": {}
|
| 1322 |
+
},
|
| 1323 |
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{
|
| 1324 |
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"part_name": "garlic clove",
|
| 1325 |
+
"mask_color": "Maroon",
|
| 1326 |
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"graspable": true,
|
| 1327 |
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"grasp_scenarios": [
|
| 1328 |
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{
|
| 1329 |
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"scenario": "grasp a partially exposed inner clove to help orient the bulb",
|
| 1330 |
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"confidence": 0.4
|
| 1331 |
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},
|
| 1332 |
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{
|
| 1333 |
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"scenario": "pinch the clove area during delicate separation of cloves",
|
| 1334 |
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"confidence": 0.47
|
| 1335 |
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}
|
| 1336 |
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],
|
| 1337 |
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"functional_labels": [
|
| 1338 |
+
"contain edible flesh",
|
| 1339 |
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"form bulb structure",
|
| 1340 |
+
"support clove separation"
|
| 1341 |
+
],
|
| 1342 |
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"semantic_description": "Small inner clove segment with light beige papery skin, matte finish, smooth dry texture, and a narrow tucked-in form near the stem region.",
|
| 1343 |
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"id": 12,
|
| 1344 |
+
"grasp_group": {
|
| 1345 |
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|
| 1346 |
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|
| 1347 |
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0.0732790597830899,
|
| 1349 |
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-0.0027793198823928833,
|
| 1350 |
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0.07651137426728383
|
| 1351 |
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],
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| 1352 |
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|
| 1353 |
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| 1355 |
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|
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|
| 1357 |
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0.037275515719896214
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| 1358 |
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]
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| 1359 |
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}
|
| 1360 |
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},
|
| 1361 |
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"grasp_185": {
|
| 1362 |
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"confidence": 0.9467139840126038,
|
| 1363 |
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"position": [
|
| 1364 |
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0.013561500527430326,
|
| 1365 |
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0.02332365605980158,
|
| 1366 |
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0.10821529343957081
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| 1367 |
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],
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| 1368 |
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"orientation": {
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| 1369 |
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| 1370 |
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|
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|
| 1373 |
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0.019781772028264668
|
| 1374 |
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]
|
| 1375 |
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}
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| 1376 |
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},
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| 1377 |
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"grasp_190": {
|
| 1378 |
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"confidence": 0.9527367353439331,
|
| 1379 |
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"position": [
|
| 1380 |
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0.03148212592350319,
|
| 1381 |
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0.005643204320222139,
|
| 1382 |
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0.10664524749154225
|
| 1383 |
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],
|
| 1384 |
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"orientation": {
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| 1385 |
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"w": 0.08299241884827056,
|
| 1386 |
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"xyz": [
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| 1387 |
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-0.8423872970399627,
|
| 1388 |
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-0.5120296721360128,
|
| 1389 |
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0.14601888594187432
|
| 1390 |
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]
|
| 1391 |
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}
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| 1392 |
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},
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| 1393 |
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"grasp_192": {
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| 1394 |
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"confidence": 0.9353172779083252,
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| 1395 |
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| 1396 |
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0.014688579656649381,
|
| 1397 |
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-0.01917522680014372,
|
| 1398 |
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0.10937709227437153
|
| 1399 |
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],
|
| 1400 |
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"orientation": {
|
| 1401 |
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"w": 0.11354340291564449,
|
| 1402 |
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-0.6552529860097996,
|
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-0.0019610086379518647
|
| 1406 |
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]
|
| 1407 |
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}
|
| 1408 |
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},
|
| 1409 |
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"grasp_194": {
|
| 1410 |
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"confidence": 0.8705086708068848,
|
| 1411 |
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"position": [
|
| 1412 |
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0.07059604610549286,
|
| 1413 |
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0.013681748881936073,
|
| 1414 |
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0.08363562688464299
|
| 1415 |
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],
|
| 1416 |
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"orientation": {
|
| 1417 |
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"w": 0.3233324680870989,
|
| 1418 |
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"xyz": [
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|
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0.09695206513869309
|
| 1422 |
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]
|
| 1423 |
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}
|
| 1424 |
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},
|
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"grasp_195": {
|
| 1426 |
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"confidence": 0.8666290640830994,
|
| 1427 |
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"position": [
|
| 1428 |
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0.05412477190839127,
|
| 1429 |
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0.025393816642463207,
|
| 1430 |
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0.09077726915711537
|
| 1431 |
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],
|
| 1432 |
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"orientation": {
|
| 1433 |
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"w": 0.2536044586878057,
|
| 1434 |
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"xyz": [
|
| 1435 |
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0.05183974869005856,
|
| 1436 |
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-0.9560069176551282,
|
| 1437 |
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0.13801518896468604
|
| 1438 |
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]
|
| 1439 |
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}
|
| 1440 |
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},
|
| 1441 |
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"grasp_196": {
|
| 1442 |
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"confidence": 0.8502604961395264,
|
| 1443 |
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"position": [
|
| 1444 |
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-0.04431593482149765,
|
| 1445 |
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-0.022502136416733265,
|
| 1446 |
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0.10174424067372456
|
| 1447 |
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],
|
| 1448 |
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"orientation": {
|
| 1449 |
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"w": 0.21436087806138004,
|
| 1450 |
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"xyz": [
|
| 1451 |
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-0.18585391877411742,
|
| 1452 |
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0.9574242379055482,
|
| 1453 |
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0.053353195818417104
|
| 1454 |
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]
|
| 1455 |
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}
|
| 1456 |
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},
|
| 1457 |
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"grasp_199": {
|
| 1458 |
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"confidence": 0.9514813423156738,
|
| 1459 |
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"position": [
|
| 1460 |
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-0.02100883302045986,
|
| 1461 |
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0.08723895531147718,
|
| 1462 |
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0.060778355749789625
|
| 1463 |
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],
|
| 1464 |
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"orientation": {
|
| 1465 |
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"w": 0.3238748782648622,
|
| 1466 |
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"xyz": [
|
| 1467 |
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0.48746105096134906,
|
| 1468 |
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0.7363489535606197,
|
| 1469 |
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-0.3395246760027283
|
| 1470 |
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]
|
| 1471 |
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}
|
| 1472 |
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}
|
| 1473 |
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}
|
| 1474 |
+
}
|
| 1475 |
+
],
|
| 1476 |
+
"quality_check": {
|
| 1477 |
+
"success": false,
|
| 1478 |
+
"message": "Bottom mask color is mislabeled and several clove grasp confidences are too high for smooth bulb surfaces."
|
| 1479 |
+
}
|
| 1480 |
+
}
|
dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7fb0d70a40176904cf43898facb60573bede38e49fdb629330d2a40124cccba6
|
| 3 |
+
size 3803656
|