Add asset food/ingredients/93b8a247386b57e1850833e8fc00d21d
Browse files
.gitattributes
CHANGED
|
@@ -6804,3 +6804,4 @@ dataset/food/ingredients/90179f43534f5fac81fab0e1093d8236/affordance/mesh_part_s
|
|
| 6804 |
dataset/food/ingredients/9157eb7537375b87a1f28c697240264c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6805 |
dataset/food/ingredients/91e95b81acbc50a99a0d3dad84ae159d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6806 |
dataset/food/ingredients/92be645194ed57f09e8638886257ac26/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 6804 |
dataset/food/ingredients/9157eb7537375b87a1f28c697240264c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6805 |
dataset/food/ingredients/91e95b81acbc50a99a0d3dad84ae159d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6806 |
dataset/food/ingredients/92be645194ed57f09e8638886257ac26/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6807 |
+
dataset/food/ingredients/93b8a247386b57e1850833e8fc00d21d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/food/ingredients/93b8a247386b57e1850833e8fc00d21d/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,254 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "mushroom cap",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the cap edge to pick up the mushroom gently",
|
| 10 |
+
"confidence": 0.71
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the cap to stabilize the mushroom during inspection or cutting",
|
| 14 |
+
"confidence": 0.64
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"cover the gills",
|
| 19 |
+
"protect the spore-bearing underside",
|
| 20 |
+
"provide the main body mass",
|
| 21 |
+
"offer a broad contact surface"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large domed yellow-orange mushroom cap with a matte smooth to slightly velvety surface, soft fleshy texture, rounded broad shape, and subtle darker orange shading across the top and underside rim.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_2": {
|
| 27 |
+
"confidence": 0.7113136649131775,
|
| 28 |
+
"position": [
|
| 29 |
+
0.0681439049076289,
|
| 30 |
+
0.10715462476946414,
|
| 31 |
+
0.042819008231163025
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.5575740616834876,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.34273963223763215,
|
| 37 |
+
-0.6734158300159606,
|
| 38 |
+
0.34373220697994744
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_3": {
|
| 43 |
+
"confidence": 0.7040935158729553,
|
| 44 |
+
"position": [
|
| 45 |
+
0.10587439755909145,
|
| 46 |
+
0.07576845050789416,
|
| 47 |
+
0.04268132150173187
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.6316946870509004,
|
| 51 |
+
"xyz": [
|
| 52 |
+
0.24260565378581994,
|
| 53 |
+
-0.7172569368083387,
|
| 54 |
+
0.16627328619817097
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_13": {
|
| 59 |
+
"confidence": 0.6883689165115356,
|
| 60 |
+
"position": [
|
| 61 |
+
0.06305857072584331,
|
| 62 |
+
0.10926915914751589,
|
| 63 |
+
0.041756387799978256
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.5623413240335676,
|
| 67 |
+
"xyz": [
|
| 68 |
+
0.38803795631718957,
|
| 69 |
+
-0.6461516630784933,
|
| 70 |
+
0.3401276349287868
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
}
|
| 74 |
+
}
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"part_name": "mushroom stem",
|
| 78 |
+
"mask_color": "Green",
|
| 79 |
+
"graspable": true,
|
| 80 |
+
"grasp_scenarios": [
|
| 81 |
+
{
|
| 82 |
+
"scenario": "grasp the stem to lift and carry the mushroom",
|
| 83 |
+
"confidence": 0.89
|
| 84 |
+
},
|
| 85 |
+
{
|
| 86 |
+
"scenario": "hold the stem to orient the mushroom for placement or inspection",
|
| 87 |
+
"confidence": 0.86
|
| 88 |
+
},
|
| 89 |
+
{
|
| 90 |
+
"scenario": "grip the stem to stabilize the mushroom while trimming or cutting",
|
| 91 |
+
"confidence": 0.82
|
| 92 |
+
}
|
| 93 |
+
],
|
| 94 |
+
"functional_labels": [
|
| 95 |
+
"support the cap",
|
| 96 |
+
"connect cap to base",
|
| 97 |
+
"provide the main grasp point",
|
| 98 |
+
"elevate the cap"
|
| 99 |
+
],
|
| 100 |
+
"semantic_description": "Short to medium cylindrical orange stem with a matte fibrous surface, firm slightly rough texture, gentle curve, and thicker base positioned centrally beneath the cap.",
|
| 101 |
+
"id": 1,
|
| 102 |
+
"grasp_group": {
|
| 103 |
+
"grasp_21": {
|
| 104 |
+
"confidence": 0.9752340316772461,
|
| 105 |
+
"position": [
|
| 106 |
+
-0.06862430949695408,
|
| 107 |
+
-0.04552659927867353,
|
| 108 |
+
-0.09039141051471233
|
| 109 |
+
],
|
| 110 |
+
"orientation": {
|
| 111 |
+
"w": 0.35179993179060515,
|
| 112 |
+
"xyz": [
|
| 113 |
+
0.25372191243835035,
|
| 114 |
+
0.3982465693203183,
|
| 115 |
+
0.808246044942596
|
| 116 |
+
]
|
| 117 |
+
}
|
| 118 |
+
},
|
| 119 |
+
"grasp_24": {
|
| 120 |
+
"confidence": 0.9739233255386353,
|
| 121 |
+
"position": [
|
| 122 |
+
0.035279591334983706,
|
| 123 |
+
-0.09045407711528242,
|
| 124 |
+
-0.04415485821664333
|
| 125 |
+
],
|
| 126 |
+
"orientation": {
|
| 127 |
+
"w": 0.7500990371520814,
|
| 128 |
+
"xyz": [
|
| 129 |
+
-0.6325525026066718,
|
| 130 |
+
-0.1273979473399357,
|
| 131 |
+
0.14490869167557863
|
| 132 |
+
]
|
| 133 |
+
}
|
| 134 |
+
},
|
| 135 |
+
"grasp_26": {
|
| 136 |
+
"confidence": 0.9729442000389099,
|
| 137 |
+
"position": [
|
| 138 |
+
0.016841486794874072,
|
| 139 |
+
-0.07690304308198392,
|
| 140 |
+
-0.09385943971574306
|
| 141 |
+
],
|
| 142 |
+
"orientation": {
|
| 143 |
+
"w": 0.8833856541098263,
|
| 144 |
+
"xyz": [
|
| 145 |
+
-0.4488507070225733,
|
| 146 |
+
-0.03278514342828942,
|
| 147 |
+
0.13072093668834023
|
| 148 |
+
]
|
| 149 |
+
}
|
| 150 |
+
},
|
| 151 |
+
"grasp_27": {
|
| 152 |
+
"confidence": 0.9728538990020752,
|
| 153 |
+
"position": [
|
| 154 |
+
0.03309399704448879,
|
| 155 |
+
-0.09360981523059309,
|
| 156 |
+
-0.04138498567044735
|
| 157 |
+
],
|
| 158 |
+
"orientation": {
|
| 159 |
+
"w": 0.7581173611977282,
|
| 160 |
+
"xyz": [
|
| 161 |
+
-0.630996781262242,
|
| 162 |
+
-0.12540938142764224,
|
| 163 |
+
0.10664715531705392
|
| 164 |
+
]
|
| 165 |
+
}
|
| 166 |
+
},
|
| 167 |
+
"grasp_30": {
|
| 168 |
+
"confidence": 0.971875011920929,
|
| 169 |
+
"position": [
|
| 170 |
+
0.05325697804801166,
|
| 171 |
+
-0.08432025252841413,
|
| 172 |
+
-0.0407735388725996
|
| 173 |
+
],
|
| 174 |
+
"orientation": {
|
| 175 |
+
"w": 0.724812164558362,
|
| 176 |
+
"xyz": [
|
| 177 |
+
-0.6278140750136944,
|
| 178 |
+
-0.21939872942846717,
|
| 179 |
+
0.17989166419847202
|
| 180 |
+
]
|
| 181 |
+
}
|
| 182 |
+
},
|
| 183 |
+
"grasp_32": {
|
| 184 |
+
"confidence": 0.9717686176300049,
|
| 185 |
+
"position": [
|
| 186 |
+
0.004323289729654789,
|
| 187 |
+
-0.07832298218272626,
|
| 188 |
+
-0.09414801560342312
|
| 189 |
+
],
|
| 190 |
+
"orientation": {
|
| 191 |
+
"w": 0.8907643436731032,
|
| 192 |
+
"xyz": [
|
| 193 |
+
-0.4466517646612983,
|
| 194 |
+
0.009591702315970618,
|
| 195 |
+
0.08336116849142501
|
| 196 |
+
]
|
| 197 |
+
}
|
| 198 |
+
},
|
| 199 |
+
"grasp_35": {
|
| 200 |
+
"confidence": 0.9715249538421631,
|
| 201 |
+
"position": [
|
| 202 |
+
-0.003438943298533559,
|
| 203 |
+
-0.0753706970717758,
|
| 204 |
+
-0.09933566115796566
|
| 205 |
+
],
|
| 206 |
+
"orientation": {
|
| 207 |
+
"w": 0.9033152262893416,
|
| 208 |
+
"xyz": [
|
| 209 |
+
-0.4282574694416526,
|
| 210 |
+
0.020537718414818884,
|
| 211 |
+
-0.013976549773871938
|
| 212 |
+
]
|
| 213 |
+
}
|
| 214 |
+
},
|
| 215 |
+
"grasp_37": {
|
| 216 |
+
"confidence": 0.971470057964325,
|
| 217 |
+
"position": [
|
| 218 |
+
0.038906392408534884,
|
| 219 |
+
-0.09449946670792997,
|
| 220 |
+
-0.03907325677573681
|
| 221 |
+
],
|
| 222 |
+
"orientation": {
|
| 223 |
+
"w": 0.1421276151836206,
|
| 224 |
+
"xyz": [
|
| 225 |
+
0.13652553159938755,
|
| 226 |
+
-0.6432664226486134,
|
| 227 |
+
-0.7398437873744546
|
| 228 |
+
]
|
| 229 |
+
}
|
| 230 |
+
},
|
| 231 |
+
"grasp_39": {
|
| 232 |
+
"confidence": 0.9713687300682068,
|
| 233 |
+
"position": [
|
| 234 |
+
-0.07877774466760457,
|
| 235 |
+
0.06444555730558932,
|
| 236 |
+
-0.04241165332496166
|
| 237 |
+
],
|
| 238 |
+
"orientation": {
|
| 239 |
+
"w": 0.37090871741035897,
|
| 240 |
+
"xyz": [
|
| 241 |
+
-0.24627751374719195,
|
| 242 |
+
0.6388758605946068,
|
| 243 |
+
-0.6273848454664849
|
| 244 |
+
]
|
| 245 |
+
}
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
}
|
| 249 |
+
],
|
| 250 |
+
"quality_check": {
|
| 251 |
+
"success": true,
|
| 252 |
+
"message": "YES"
|
| 253 |
+
}
|
| 254 |
+
}
|
dataset/food/ingredients/93b8a247386b57e1850833e8fc00d21d/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:70fdbba99b229d5fb5f4493cce5a9a256a6da490c554b711571827fbfa1468a6
|
| 3 |
+
size 1533336
|