Add asset kitchen_supplies/cutting_tools/5e8d579fd2b65b37b56f9bf8f7a6ea3a
Browse files- .gitattributes +1 -0
- dataset/kitchen_supplies/cutting_tools/5e8d579fd2b65b37b56f9bf8f7a6ea3a/affordance/affordance_annot.json +409 -0
- dataset/kitchen_supplies/cutting_tools/5e8d579fd2b65b37b56f9bf8f7a6ea3a/affordance/mesh_part_seg.glb +3 -0
- dataset/kitchen_supplies/cutting_tools/5e8d579fd2b65b37b56f9bf8f7a6ea3a/peeler_019.urdf +1 -0
.gitattributes
CHANGED
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@@ -7005,3 +7005,4 @@ dataset/kitchen_supplies/cutting_tools/591c78335d405c059df45a9f9d212920/affordan
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| 7005 |
dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7006 |
dataset/kitchen_supplies/cutting_tools/5e0bba36eb3e5207904f47fc7d111272/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7007 |
dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7005 |
dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7006 |
dataset/kitchen_supplies/cutting_tools/5e0bba36eb3e5207904f47fc7d111272/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7007 |
dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7008 |
+
dataset/kitchen_supplies/cutting_tools/5e8d579fd2b65b37b56f9bf8f7a6ea3a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/cutting_tools/5e8d579fd2b65b37b56f9bf8f7a6ea3a/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,409 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "handle",
|
| 5 |
+
"mask_color": "Orange",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle to pick up and use the peeler",
|
| 10 |
+
"confidence": 0.98
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle to orient the blade toward produce",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the handle to stabilize the peeler during storage retrieval",
|
| 18 |
+
"confidence": 0.82
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grip surface",
|
| 23 |
+
"support handoff and pickup",
|
| 24 |
+
"orient the peeler",
|
| 25 |
+
"connect the head to the user grip"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Elongated black plastic handle with a matte to satin finish, hard smooth surface, rounded slightly tapered shape, medium size at the rear, with a hanging hole and small white printed logo markings.",
|
| 28 |
+
"id": 4,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_23": {
|
| 31 |
+
"confidence": 0.9828029870986938,
|
| 32 |
+
"position": [
|
| 33 |
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-0.02205260330811143,
|
| 34 |
+
0.09731882135383785,
|
| 35 |
+
-0.010731207294156775
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.5219669535304201,
|
| 39 |
+
"xyz": [
|
| 40 |
+
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|
| 41 |
+
0.47676757264262415,
|
| 42 |
+
-0.5190430207539735
|
| 43 |
+
]
|
| 44 |
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}
|
| 45 |
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},
|
| 46 |
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"grasp_32": {
|
| 47 |
+
"confidence": 0.9804002046585083,
|
| 48 |
+
"position": [
|
| 49 |
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-0.024415890220552683,
|
| 50 |
+
0.09934427659027278,
|
| 51 |
+
-0.0037768982292618603
|
| 52 |
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],
|
| 53 |
+
"orientation": {
|
| 54 |
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"w": 0.5158607954891705,
|
| 55 |
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"xyz": [
|
| 56 |
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|
| 57 |
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|
| 58 |
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-0.49863778719868707
|
| 59 |
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]
|
| 60 |
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}
|
| 61 |
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},
|
| 62 |
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"grasp_33": {
|
| 63 |
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"confidence": 0.9801563024520874,
|
| 64 |
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"position": [
|
| 65 |
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|
| 66 |
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0.09703480522148311,
|
| 67 |
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-0.007937955757370219
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.5323430738048405,
|
| 71 |
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"xyz": [
|
| 72 |
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|
| 73 |
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|
| 74 |
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-0.4997506623581402
|
| 75 |
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]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
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"grasp_34": {
|
| 79 |
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"confidence": 0.9795193076133728,
|
| 80 |
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"position": [
|
| 81 |
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-0.05101110273972154,
|
| 82 |
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0.09774936060421169,
|
| 83 |
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-0.0007189848402049392
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
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"w": 0.4522355629443702,
|
| 87 |
+
"xyz": [
|
| 88 |
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0.5441437979772891,
|
| 89 |
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-0.4323169194234936,
|
| 90 |
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0.5590103790730726
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_36": {
|
| 95 |
+
"confidence": 0.9790450930595398,
|
| 96 |
+
"position": [
|
| 97 |
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-0.060258007142692804,
|
| 98 |
+
0.09456448326818645,
|
| 99 |
+
-0.006912170996656641
|
| 100 |
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],
|
| 101 |
+
"orientation": {
|
| 102 |
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"w": 0.4422645159865707,
|
| 103 |
+
"xyz": [
|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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]
|
| 108 |
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}
|
| 109 |
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},
|
| 110 |
+
"grasp_39": {
|
| 111 |
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"confidence": 0.9783614277839661,
|
| 112 |
+
"position": [
|
| 113 |
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-0.05861910292878747,
|
| 114 |
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0.09315306763164699,
|
| 115 |
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-0.0017731213883962482
|
| 116 |
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],
|
| 117 |
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"orientation": {
|
| 118 |
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"w": 0.4342387877138748,
|
| 119 |
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"xyz": [
|
| 120 |
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0.5592824050205523,
|
| 121 |
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-0.41451343034501664,
|
| 122 |
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0.5716804026226702
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
}
|
| 126 |
+
}
|
| 127 |
+
},
|
| 128 |
+
{
|
| 129 |
+
"part_name": "peeler frame",
|
| 130 |
+
"mask_color": "Red",
|
| 131 |
+
"graspable": true,
|
| 132 |
+
"grasp_scenarios": [
|
| 133 |
+
{
|
| 134 |
+
"scenario": "grasp the frame to reposition the peeler when the handle is obstructed",
|
| 135 |
+
"confidence": 0.41
|
| 136 |
+
},
|
| 137 |
+
{
|
| 138 |
+
"scenario": "pinch the frame to stabilize the tool while inspecting or cleaning the blade",
|
| 139 |
+
"confidence": 0.56
|
| 140 |
+
}
|
| 141 |
+
],
|
| 142 |
+
"functional_labels": [
|
| 143 |
+
"support the blade",
|
| 144 |
+
"connect blade to handle",
|
| 145 |
+
"maintain cutting geometry",
|
| 146 |
+
"guide peeling contact"
|
| 147 |
+
],
|
| 148 |
+
"semantic_description": "White rigid plastic U-shaped frame with a smooth glossy surface, medium size at the front of the tool, arching around the blade and forming the peeler head.",
|
| 149 |
+
"id": 0,
|
| 150 |
+
"grasp_group": {
|
| 151 |
+
"grasp_0": {
|
| 152 |
+
"confidence": 0.9770064949989319,
|
| 153 |
+
"position": [
|
| 154 |
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-0.013448749203234911,
|
| 155 |
+
0.09410136262886226,
|
| 156 |
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-0.009256841702153906
|
| 157 |
+
],
|
| 158 |
+
"orientation": {
|
| 159 |
+
"w": 0.5824377837373006,
|
| 160 |
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"xyz": [
|
| 161 |
+
0.4246913202885293,
|
| 162 |
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0.5242260180728946,
|
| 163 |
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-0.4534209881800842
|
| 164 |
+
]
|
| 165 |
+
}
|
| 166 |
+
},
|
| 167 |
+
"grasp_1": {
|
| 168 |
+
"confidence": 0.9685538411140442,
|
| 169 |
+
"position": [
|
| 170 |
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-0.011283569503575563,
|
| 171 |
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0.09203831921331584,
|
| 172 |
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-0.010609070857753977
|
| 173 |
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],
|
| 174 |
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"orientation": {
|
| 175 |
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"w": 0.5884006514035782,
|
| 176 |
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"xyz": [
|
| 177 |
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|
| 178 |
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0.5154695450207936,
|
| 179 |
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|
| 180 |
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]
|
| 181 |
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| 371 |
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],
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| 388 |
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"success": true,
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"message": "YES"
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|
dataset/kitchen_supplies/cutting_tools/5e8d579fd2b65b37b56f9bf8f7a6ea3a/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:86ea8353958887e3bb1d1cd32a4b3f862c35e40b248d0a0fb41e180e8309dde5
|
| 3 |
+
size 3781392
|
dataset/kitchen_supplies/cutting_tools/5e8d579fd2b65b37b56f9bf8f7a6ea3a/peeler_019.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 |
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 62 |
</affordance>
|
| 63 |
<quality>
|
| 64 |
<PartSegChecker>YES</PartSegChecker>
|