Add asset kitchen_supplies/cutting_tools/9e09da6301c05ef1b4759bd2e57f0291
Browse files- .gitattributes +1 -1
- dataset/kitchen_supplies/cutting_tools/9e09da6301c05ef1b4759bd2e57f0291/affordance/affordance_annot.json +681 -0
- dataset/kitchen_supplies/cutting_tools/9e09da6301c05ef1b4759bd2e57f0291/affordance/mesh_part_seg.glb +3 -0
- dataset/kitchen_supplies/cutting_tools/9e09da6301c05ef1b4759bd2e57f0291/garlic_press_020.urdf +1 -0
.gitattributes
CHANGED
|
@@ -7025,4 +7025,4 @@ dataset/kitchen_supplies/cutting_tools/92ab55ac19cc556e993c1a0314ee49e4/affordan
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| 7025 |
dataset/kitchen_supplies/cutting_tools/962e3c16974e5204a19e822e1494a3c7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7026 |
dataset/kitchen_supplies/cutting_tools/99fad3b2419b50afb14eb340190194c8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7027 |
dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7028 |
-
dataset/kitchen_supplies/cutting_tools/
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| 7025 |
dataset/kitchen_supplies/cutting_tools/962e3c16974e5204a19e822e1494a3c7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7026 |
dataset/kitchen_supplies/cutting_tools/99fad3b2419b50afb14eb340190194c8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7027 |
dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7028 |
+
dataset/kitchen_supplies/cutting_tools/9e09da6301c05ef1b4759bd2e57f0291/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/kitchen_supplies/cutting_tools/9e09da6301c05ef1b4759bd2e57f0291/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,681 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "upper handle",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the upper handle to pick up and reposition the garlic press",
|
| 10 |
+
"confidence": 0.9
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the upper handle while squeezing it toward the lower handle to crush garlic",
|
| 14 |
+
"confidence": 0.92
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the tool by pinching both handles together near their ends",
|
| 18 |
+
"confidence": 0.84
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide handhold",
|
| 23 |
+
"apply squeezing force",
|
| 24 |
+
"control opening and closing",
|
| 25 |
+
"support tool manipulation"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Long slightly curved metal handle with orange outer coating and a black textured grip panel, medium-width and one of the two main levers extending from the hinge.",
|
| 28 |
+
"id": 3,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_40": {
|
| 31 |
+
"confidence": 0.9705307483673096,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.02851090021431446,
|
| 34 |
+
-0.010157035489100963,
|
| 35 |
+
0.11415276606567204
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.07791464841642064,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.7230519023662499,
|
| 41 |
+
0.686181564406541,
|
| 42 |
+
-0.016736627954431385
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_42": {
|
| 47 |
+
"confidence": 0.9690397381782532,
|
| 48 |
+
"position": [
|
| 49 |
+
0.00160171277821064,
|
| 50 |
+
0.004328351642470807,
|
| 51 |
+
0.11360786040313542
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.004724765657073467,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.7044574695326344,
|
| 57 |
+
-0.709074311226879,
|
| 58 |
+
0.03051182340159742
|
| 59 |
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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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| 636 |
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}
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| 637 |
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},
|
| 638 |
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{
|
| 639 |
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"part_name": "lower grip insert",
|
| 640 |
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"mask_color": "Cyan",
|
| 641 |
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"graspable": true,
|
| 642 |
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"grasp_scenarios": [
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| 643 |
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{
|
| 644 |
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"scenario": "place gripper fingers on the grip insert for a more secure hold on the lower handle",
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| 645 |
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"confidence": 0.74
|
| 646 |
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},
|
| 647 |
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{
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| 648 |
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"scenario": "use the insert as a contact patch while stabilizing the tool during squeezing",
|
| 649 |
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"confidence": 0.7
|
| 650 |
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}
|
| 651 |
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],
|
| 652 |
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"functional_labels": [
|
| 653 |
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"improve grip friction",
|
| 654 |
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"cushion contact",
|
| 655 |
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"aid secure handling",
|
| 656 |
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"indicate handle contact area"
|
| 657 |
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],
|
| 658 |
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"semantic_description": "Elongated black textured grip panel inset into the lower handle, with a matte rubber-like surface and tapered shape running along the handle center.",
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| 659 |
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"id": 6,
|
| 660 |
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"grasp_group": {}
|
| 661 |
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},
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| 662 |
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{
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"part_name": "basket bottom face",
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| 664 |
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"mask_color": "Pink",
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| 665 |
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"graspable": false,
|
| 666 |
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"grasp_scenarios": [],
|
| 667 |
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"functional_labels": [
|
| 668 |
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"form the bottom opening face of the garlic chamber",
|
| 669 |
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"provide the main extrusion-hole face",
|
| 670 |
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"contact food during pressing"
|
| 671 |
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],
|
| 672 |
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"semantic_description": "Round silver metal bottom face of the basket, visible as the circular end of the chamber with many small holes and a hard smooth finish.",
|
| 673 |
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"id": 8,
|
| 674 |
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"grasp_group": {}
|
| 675 |
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}
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| 676 |
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],
|
| 677 |
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"quality_check": {
|
| 678 |
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"success": true,
|
| 679 |
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"message": "YES"
|
| 680 |
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}
|
| 681 |
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}
|
dataset/kitchen_supplies/cutting_tools/9e09da6301c05ef1b4759bd2e57f0291/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9bcfcaee5722b740e56ace27776c5bb80dcc7eeb33742c80bb14a342bd13ae21
|
| 3 |
+
size 3786052
|
dataset/kitchen_supplies/cutting_tools/9e09da6301c05ef1b4759bd2e57f0291/garlic_press_020.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>
|
|
|
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
| 61 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 62 |
</affordance>
|
| 63 |
<quality>
|
| 64 |
<PartSegChecker>YES</PartSegChecker>
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