Add asset kitchen_supplies/cutting_tools/a5bd317764af5fe2ba456f60efe98c28
Browse files- .gitattributes +1 -0
- dataset/kitchen_supplies/cutting_tools/a5bd317764af5fe2ba456f60efe98c28/affordance/affordance_annot.json +419 -0
- dataset/kitchen_supplies/cutting_tools/a5bd317764af5fe2ba456f60efe98c28/affordance/mesh_part_seg.glb +3 -0
- dataset/kitchen_supplies/cutting_tools/a5bd317764af5fe2ba456f60efe98c28/garlic_press_015.urdf +1 -0
.gitattributes
CHANGED
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@@ -7029,3 +7029,4 @@ dataset/kitchen_supplies/cutting_tools/9e09da6301c05ef1b4759bd2e57f0291/affordan
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| 7029 |
dataset/kitchen_supplies/cutting_tools/9eaa9260bd2b5ed19159274b5dcb4dfa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7030 |
dataset/kitchen_supplies/cutting_tools/a3899e7b138457b79d2da6f02a1132ad/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7031 |
dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7029 |
dataset/kitchen_supplies/cutting_tools/9eaa9260bd2b5ed19159274b5dcb4dfa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7030 |
dataset/kitchen_supplies/cutting_tools/a3899e7b138457b79d2da6f02a1132ad/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7031 |
dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7032 |
+
dataset/kitchen_supplies/cutting_tools/a5bd317764af5fe2ba456f60efe98c28/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/cutting_tools/a5bd317764af5fe2ba456f60efe98c28/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,419 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "left handle grip",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp this handle as one side of the tool to pick up and reposition the garlic press",
|
| 10 |
+
"confidence": 0.8
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold this handle while squeezing the opposite handle to press garlic",
|
| 14 |
+
"confidence": 0.86
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pinch both handles together with this part as one contact surface",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide handhold for squeezing",
|
| 23 |
+
"increase leverage",
|
| 24 |
+
"support opening and closing motion",
|
| 25 |
+
"main grasp surface"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Long olive-green handle grip with a matte smooth surface, rounded elongated shape, and a small hole near the tip, extending from one side of the press head.",
|
| 28 |
+
"id": 1,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_21": {
|
| 31 |
+
"confidence": 0.862131655216217,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.14940125914290547,
|
| 34 |
+
-0.01648245396791026,
|
| 35 |
+
-0.001538116077426821
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.7002511895068532,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.0025291910385215333,
|
| 41 |
+
0.712475751129582,
|
| 42 |
+
0.04494639962518267
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
}
|
| 46 |
+
}
|
| 47 |
+
},
|
| 48 |
+
{
|
| 49 |
+
"part_name": "right handle grip",
|
| 50 |
+
"mask_color": "Red",
|
| 51 |
+
"graspable": true,
|
| 52 |
+
"grasp_scenarios": [
|
| 53 |
+
{
|
| 54 |
+
"scenario": "grasp this handle as one side of the tool to pick up and reposition the garlic press",
|
| 55 |
+
"confidence": 0.8
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"scenario": "hold this handle while squeezing the opposite handle to press garlic",
|
| 59 |
+
"confidence": 0.86
|
| 60 |
+
},
|
| 61 |
+
{
|
| 62 |
+
"scenario": "pinch both handles together with this part as one contact surface",
|
| 63 |
+
"confidence": 0.88
|
| 64 |
+
}
|
| 65 |
+
],
|
| 66 |
+
"functional_labels": [
|
| 67 |
+
"provide handhold for squeezing",
|
| 68 |
+
"increase leverage",
|
| 69 |
+
"support opening and closing motion",
|
| 70 |
+
"main grasp surface"
|
| 71 |
+
],
|
| 72 |
+
"semantic_description": "Long olive-green handle grip with a matte smooth surface, rounded elongated shape, and a small hole near the tip, extending from the opposite side of the press head.",
|
| 73 |
+
"id": 0,
|
| 74 |
+
"grasp_group": {
|
| 75 |
+
"grasp_1": {
|
| 76 |
+
"confidence": 0.8596860766410828,
|
| 77 |
+
"position": [
|
| 78 |
+
-0.14062705310061574,
|
| 79 |
+
0.005653790954966098,
|
| 80 |
+
0.0019315187237225473
|
| 81 |
+
],
|
| 82 |
+
"orientation": {
|
| 83 |
+
"w": 0.05186668932146463,
|
| 84 |
+
"xyz": [
|
| 85 |
+
-0.6999583892906269,
|
| 86 |
+
0.025526046475215614,
|
| 87 |
+
-0.7118402354123059
|
| 88 |
+
]
|
| 89 |
+
}
|
| 90 |
+
},
|
| 91 |
+
"grasp_13": {
|
| 92 |
+
"confidence": 0.6600791811943054,
|
| 93 |
+
"position": [
|
| 94 |
+
-0.13912684889510274,
|
| 95 |
+
-0.0029171720962040126,
|
| 96 |
+
-0.008314005157444626
|
| 97 |
+
],
|
| 98 |
+
"orientation": {
|
| 99 |
+
"w": 0.5558090204881326,
|
| 100 |
+
"xyz": [
|
| 101 |
+
-0.4603919339674331,
|
| 102 |
+
0.5231461563997126,
|
| 103 |
+
-0.45324794420488707
|
| 104 |
+
]
|
| 105 |
+
}
|
| 106 |
+
}
|
| 107 |
+
}
|
| 108 |
+
},
|
| 109 |
+
{
|
| 110 |
+
"part_name": "hinge-side neck connector",
|
| 111 |
+
"mask_color": "Blue",
|
| 112 |
+
"graspable": true,
|
| 113 |
+
"grasp_scenarios": [
|
| 114 |
+
{
|
| 115 |
+
"scenario": "pinch near this connector to stabilize the tool close to the hinge during careful positioning",
|
| 116 |
+
"confidence": 0.38
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"scenario": "briefly hold near this connector when handles are partly obstructed",
|
| 120 |
+
"confidence": 0.28
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"functional_labels": [
|
| 124 |
+
"connect one handle to the press head",
|
| 125 |
+
"transmit squeezing force",
|
| 126 |
+
"support hinge-side alignment"
|
| 127 |
+
],
|
| 128 |
+
"semantic_description": "Short silver metallic neck section between one olive-green handle grip and the press head, with a smooth slightly reflective finish and compact narrow shape near the hinge.",
|
| 129 |
+
"id": 2,
|
| 130 |
+
"grasp_group": {
|
| 131 |
+
"grasp_40": {
|
| 132 |
+
"confidence": 0.9527454376220703,
|
| 133 |
+
"position": [
|
| 134 |
+
-0.0018469574861228466,
|
| 135 |
+
0.10743285325588658,
|
| 136 |
+
-0.013752701750490814
|
| 137 |
+
],
|
| 138 |
+
"orientation": {
|
| 139 |
+
"w": 0.5261268407262977,
|
| 140 |
+
"xyz": [
|
| 141 |
+
0.47044822576446027,
|
| 142 |
+
0.48896799251058864,
|
| 143 |
+
-0.5126200509564581
|
| 144 |
+
]
|
| 145 |
+
}
|
| 146 |
+
},
|
| 147 |
+
"grasp_47": {
|
| 148 |
+
"confidence": 0.9482668042182922,
|
| 149 |
+
"position": [
|
| 150 |
+
-0.03747321339324117,
|
| 151 |
+
0.08899425325216725,
|
| 152 |
+
0.03685670712729916
|
| 153 |
+
],
|
| 154 |
+
"orientation": {
|
| 155 |
+
"w": 0.23547968864279403,
|
| 156 |
+
"xyz": [
|
| 157 |
+
0.6775286910198347,
|
| 158 |
+
-0.46939299630756803,
|
| 159 |
+
0.5149508754231277
|
| 160 |
+
]
|
| 161 |
+
}
|
| 162 |
+
},
|
| 163 |
+
"grasp_57": {
|
| 164 |
+
"confidence": 0.9664199352264404,
|
| 165 |
+
"position": [
|
| 166 |
+
-0.03349966974928975,
|
| 167 |
+
0.09237653372110799,
|
| 168 |
+
-0.00847738521406427
|
| 169 |
+
],
|
| 170 |
+
"orientation": {
|
| 171 |
+
"w": 0.6173456201317713,
|
| 172 |
+
"xyz": [
|
| 173 |
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0.34401648730148676,
|
| 174 |
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0.6052358789034928,
|
| 175 |
+
-0.3663694483124664
|
| 176 |
+
]
|
| 177 |
+
}
|
| 178 |
+
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],
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"quality_check": {
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| 416 |
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"success": false,
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| 417 |
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"message": "Blue part is misidentified; it is a neck/link on one handle side, not specifically hinge-side. Handle left/right naming is viewpoint-dependent."
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| 418 |
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}
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| 419 |
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}
|
dataset/kitchen_supplies/cutting_tools/a5bd317764af5fe2ba456f60efe98c28/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
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version https://git-lfs.github.com/spec/v1
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| 3 |
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size 3724884
|
dataset/kitchen_supplies/cutting_tools/a5bd317764af5fe2ba456f60efe98c28/garlic_press_015.urdf
CHANGED
|
@@ -58,6 +58,7 @@
|
|
| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
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|
|
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
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|
|
|
| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
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| 62 |
</affordance>
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| 63 |
<quality>
|
| 64 |
<PartSegChecker>YES</PartSegChecker>
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