Add asset kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6
Browse files- .gitattributes +2 -1
- dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/affordance/affordance_annot.json +976 -0
- dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/affordance/mesh_part_seg.glb +3 -0
- dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/garlic_press_003.urdf +4 -3
.gitattributes
CHANGED
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@@ -7032,4 +7032,5 @@ dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/affordan
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| 7032 |
dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7033 |
dataset/kitchen_supplies/cutting_tools/ac41faffb401535dbf8985828c110688/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7034 |
dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7035 |
-
dataset/kitchen_supplies/cutting_tools/
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| 7032 |
dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7033 |
dataset/kitchen_supplies/cutting_tools/ac41faffb401535dbf8985828c110688/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7034 |
dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7035 |
+
dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7036 |
+
dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,976 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
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| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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{
|
| 9 |
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"scenario": "grasp the upper handle frame to pick up and reposition the garlic press",
|
| 10 |
+
"confidence": 0.94
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the upper handle while squeezing the press closed against the lower body",
|
| 14 |
+
"confidence": 0.91
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pull the upper handle upward to open the press after use",
|
| 18 |
+
"confidence": 0.86
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide main handhold",
|
| 23 |
+
"apply pressing force",
|
| 24 |
+
"open and close the press",
|
| 25 |
+
"support the upper linkage"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large light blue upper frame made of smooth rigid plastic, elongated with an open rectangular center and a broad rounded end, positioned above the basket body.",
|
| 28 |
+
"id": 6,
|
| 29 |
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|
| 30 |
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|
| 31 |
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| 32 |
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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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| 38 |
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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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|
| 47 |
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"confidence": 0.8948227167129517,
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| 48 |
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| 50 |
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| 62 |
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| 63 |
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},
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|
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"confidence": 0.8393696546554565,
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],
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},
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],
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]
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| 141 |
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},
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| 142 |
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|
| 143 |
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| 144 |
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| 148 |
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],
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| 149 |
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]
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}
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| 157 |
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},
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| 158 |
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|
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0.13659183448180556
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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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],
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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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},
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],
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},
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],
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]
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}
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| 302 |
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}
|
| 303 |
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},
|
| 304 |
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{
|
| 305 |
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"part_name": "lower chamber body",
|
| 306 |
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"mask_color": "Olive",
|
| 307 |
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"graspable": true,
|
| 308 |
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|
| 309 |
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{
|
| 310 |
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"scenario": "grasp the lower chamber body to stabilize the tool while the other gripper moves the upper handle",
|
| 311 |
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"confidence": 0.9
|
| 312 |
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},
|
| 313 |
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{
|
| 314 |
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"scenario": "pick up the whole press by the lower body when the handle is folded down",
|
| 315 |
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"confidence": 0.76
|
| 316 |
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}
|
| 317 |
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],
|
| 318 |
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"functional_labels": [
|
| 319 |
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"contain garlic cloves",
|
| 320 |
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"support pressing load",
|
| 321 |
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"serve as lower body",
|
| 322 |
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"house the basket assembly"
|
| 323 |
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],
|
| 324 |
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"semantic_description": "Bulky yellow-green lower body made of smooth rigid plastic, boxy with rounded corners and forming the main chamber and base of the press.",
|
| 325 |
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"id": 14,
|
| 326 |
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| 327 |
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}
|
dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:1e83c6cd8b992861b0a9f98c88bbf043ed73eb892324db0ec54176968427841e
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| 3 |
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size 3812708
|
dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/garlic_press_003.urdf
CHANGED
|
@@ -47,16 +47,17 @@
|
|
| 47 |
</link>
|
| 48 |
<custom_data>
|
| 49 |
<affordance>
|
| 50 |
-
<part_count>
|
| 51 |
<visual_seg>
|
| 52 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 53 |
<geometry>
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| 54 |
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<mesh filename="
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
|
|
|
| 57 |
</affordance>
|
| 58 |
<quality>
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| 59 |
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<PartSegChecker>NO: part
|
| 60 |
</quality>
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| 61 |
</custom_data>
|
| 62 |
</robot>
|
|
|
|
| 47 |
</link>
|
| 48 |
<custom_data>
|
| 49 |
<affordance>
|
| 50 |
+
<part_count>7</part_count>
|
| 51 |
<visual_seg>
|
| 52 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 53 |
<geometry>
|
| 54 |
+
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
| 57 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 58 |
</affordance>
|
| 59 |
<quality>
|
| 60 |
+
<PartSegChecker>NO: {"summary":"Main press frame, handles, and basket are over-merged; only minor same-part merges are useful.","merge_groups":[{"colors":["Crimson","Maroon"],"target_part":"press plate/ram","reason":"both are same pressing element fragments"},{"colors":["Burnt Orange","Olive"],"target_part":"basket/body","reason":"orange is thin body-edge noise on basket"}]}</PartSegChecker>
|
| 61 |
</quality>
|
| 62 |
</custom_data>
|
| 63 |
</robot>
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