Add asset food/ingredients/2baa38c381495b1d925c580b32002523
Browse files
.gitattributes
CHANGED
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@@ -6775,3 +6775,4 @@ dataset/food/ingredients/20100288181959dbac9df60ed60feeb7/affordance/mesh_part_s
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| 6775 |
dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6776 |
dataset/food/ingredients/26c8386cebd85b6fb57649fdb70575b8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6777 |
dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6775 |
dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6776 |
dataset/food/ingredients/26c8386cebd85b6fb57649fdb70575b8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6777 |
dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6778 |
+
dataset/food/ingredients/2baa38c381495b1d925c580b32002523/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/ingredients/2baa38c381495b1d925c580b32002523/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,402 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "onion bulb",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the bulb body to pick up and transport the onion",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the bulb while orienting it for cutting or inspection",
|
| 14 |
+
"confidence": 0.91
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the onion on opposite sides with a gripper during placement",
|
| 18 |
+
"confidence": 0.87
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"contain edible layers",
|
| 24 |
+
"support cutting and peeling",
|
| 25 |
+
"provide bulk of the onion"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large round yellow-brown onion body with papery food skin, a matte to slightly satin finish, fine dry smooth texture, subtle vertical striping, and a squat spherical shape forming nearly the entire object.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
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"grasp_1": {
|
| 31 |
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"confidence": 0.873512864112854,
|
| 32 |
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"position": [
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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],
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| 37 |
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"orientation": {
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| 38 |
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"w": 0.6258646613925701,
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| 39 |
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"xyz": [
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| 40 |
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| 41 |
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| 42 |
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| 43 |
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]
|
| 44 |
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}
|
| 45 |
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},
|
| 46 |
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"grasp_2": {
|
| 47 |
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"confidence": 0.871236264705658,
|
| 48 |
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"position": [
|
| 49 |
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| 50 |
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| 51 |
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| 52 |
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],
|
| 53 |
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"orientation": {
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| 54 |
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"w": 0.5083076619348725,
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| 55 |
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"xyz": [
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| 56 |
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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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"grasp_4": {
|
| 63 |
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"confidence": 0.8673250079154968,
|
| 64 |
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"position": [
|
| 65 |
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|
| 66 |
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|
| 67 |
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| 68 |
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],
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| 69 |
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"orientation": {
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| 70 |
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"w": 0.2413275634911628,
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| 71 |
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"xyz": [
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| 73 |
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| 74 |
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| 75 |
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]
|
| 76 |
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}
|
| 77 |
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},
|
| 78 |
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"grasp_5": {
|
| 79 |
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"confidence": 0.8660950064659119,
|
| 80 |
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"position": [
|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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],
|
| 85 |
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"orientation": {
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| 86 |
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"w": 0.11501084531521431,
|
| 87 |
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"xyz": [
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| 88 |
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| 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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"grasp_6": {
|
| 95 |
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"confidence": 0.8651047945022583,
|
| 96 |
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"position": [
|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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],
|
| 101 |
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"orientation": {
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| 102 |
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"w": 0.2727334412520363,
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| 103 |
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"xyz": [
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| 106 |
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| 107 |
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]
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| 108 |
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}
|
| 109 |
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},
|
| 110 |
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"grasp_9": {
|
| 111 |
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"confidence": 0.8513715267181396,
|
| 112 |
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"position": [
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|
| 114 |
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|
| 116 |
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],
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"orientation": {
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"w": 0.16308105305414408,
|
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"xyz": [
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| 122 |
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|
| 123 |
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]
|
| 124 |
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}
|
| 125 |
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},
|
| 126 |
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"grasp_10": {
|
| 127 |
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"confidence": 0.8510432243347168,
|
| 128 |
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"position": [
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|
| 130 |
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|
| 131 |
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|
| 132 |
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],
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"orientation": {
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|
| 135 |
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"xyz": [
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| 139 |
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]
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| 140 |
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}
|
| 141 |
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},
|
| 142 |
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"grasp_11": {
|
| 143 |
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"confidence": 0.8464613556861877,
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"position": [
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],
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"orientation": {
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]
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}
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| 157 |
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},
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"grasp_12": {
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"confidence": 0.8430727124214172,
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"position": [
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],
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"orientation": {
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| 171 |
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]
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| 172 |
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}
|
| 173 |
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},
|
| 174 |
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"grasp_14": {
|
| 175 |
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"confidence": 0.8405424952507019,
|
| 176 |
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"position": [
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"orientation": {
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"grasp_15": {
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"confidence": 0.8352178335189819,
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"position": [
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|
dataset/food/ingredients/2baa38c381495b1d925c580b32002523/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:c026608d9165936a718839697dca209fcb4eab9e7e7a70bf2e712b2cd85c1fe5
|
| 3 |
+
size 850680
|