Add asset kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae
Browse files- .gitattributes +1 -0
- dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/affordance/affordance_annot.json +410 -0
- dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/affordance/mesh_part_seg.glb +3 -0
- dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/peeler_016.urdf +1 -0
.gitattributes
CHANGED
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@@ -8381,3 +8381,4 @@ dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/affordan
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| 8381 |
dataset/kitchen_supplies/cutting_tools/158d7126bc085825b954c21242c9f5fe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8382 |
dataset/kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8383 |
dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8381 |
dataset/kitchen_supplies/cutting_tools/158d7126bc085825b954c21242c9f5fe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8382 |
dataset/kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8383 |
dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8384 |
+
dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "handle",
|
| 5 |
+
"mask_color": "Teal",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
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{
|
| 9 |
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"scenario": "grasp the handle to pick up and use the peeler",
|
| 10 |
+
"confidence": 0.99
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
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"scenario": "hold the handle to stabilize and orient the peeler during peeling",
|
| 14 |
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"confidence": 0.98
|
| 15 |
+
},
|
| 16 |
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{
|
| 17 |
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"scenario": "grasp the handle to place or retrieve the peeler from storage",
|
| 18 |
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"confidence": 0.92
|
| 19 |
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}
|
| 20 |
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],
|
| 21 |
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"functional_labels": [
|
| 22 |
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"primary grip",
|
| 23 |
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"support hand force transfer",
|
| 24 |
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"orient the peeler",
|
| 25 |
+
"connect blade assembly to user grip"
|
| 26 |
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],
|
| 27 |
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"semantic_description": "Large elongated handle with a light gray or off-white center and darker gray outer border, smooth mostly matte plastic/rubber appearance, printed product markings, and an oval hanging hole near the rear.",
|
| 28 |
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"id": 10,
|
| 29 |
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"grasp_group": {
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| 30 |
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"grasp_25": {
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| 31 |
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"confidence": 0.9802337288856506,
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| 32 |
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"position": [
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| 33 |
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| 34 |
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| 35 |
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],
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| 37 |
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"orientation": {
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| 38 |
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"w": 0.5100573209860251,
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| 39 |
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"xyz": [
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| 41 |
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| 42 |
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| 43 |
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]
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| 44 |
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}
|
| 45 |
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},
|
| 46 |
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"grasp_26": {
|
| 47 |
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"confidence": 0.9799563884735107,
|
| 48 |
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"position": [
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| 49 |
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| 50 |
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| 51 |
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| 52 |
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],
|
| 53 |
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"orientation": {
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| 54 |
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"w": 0.4827672068486998,
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| 55 |
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"xyz": [
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| 56 |
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| 57 |
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| 58 |
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| 59 |
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]
|
| 60 |
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}
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| 61 |
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|
| 62 |
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"grasp_27": {
|
| 63 |
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"confidence": 0.9797383546829224,
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| 64 |
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"position": [
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| 66 |
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| 67 |
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| 68 |
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],
|
| 69 |
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"orientation": {
|
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"w": 0.5214216498122459,
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"xyz": [
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| 74 |
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| 75 |
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]
|
| 76 |
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}
|
| 77 |
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},
|
| 78 |
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"grasp_29": {
|
| 79 |
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"confidence": 0.9782483577728271,
|
| 80 |
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"position": [
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],
|
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"orientation": {
|
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"w": 0.5162171116347696,
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| 87 |
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"xyz": [
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| 90 |
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|
| 91 |
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]
|
| 92 |
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}
|
| 93 |
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},
|
| 94 |
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"grasp_30": {
|
| 95 |
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"confidence": 0.9779694080352783,
|
| 96 |
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"position": [
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|
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"orientation": {
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|
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},
|
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"grasp_33": {
|
| 111 |
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"confidence": 0.9771932363510132,
|
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"position": [
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"orientation": {
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| 123 |
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]
|
| 124 |
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}
|
| 125 |
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},
|
| 126 |
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"grasp_34": {
|
| 127 |
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"confidence": 0.9769881963729858,
|
| 128 |
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"position": [
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| 129 |
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|
| 132 |
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],
|
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"orientation": {
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| 134 |
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"xyz": [
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| 139 |
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}
|
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},
|
| 142 |
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"grasp_35": {
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| 143 |
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"confidence": 0.9766145348548889,
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| 144 |
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"position": [
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| 145 |
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| 148 |
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],
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"orientation": {
|
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"w": 0.5144938164894965,
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"xyz": [
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| 155 |
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}
|
| 157 |
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},
|
| 158 |
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"grasp_38": {
|
| 159 |
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"confidence": 0.9761375784873962,
|
| 160 |
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"position": [
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| 161 |
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| 162 |
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| 163 |
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|
| 164 |
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],
|
| 165 |
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"orientation": {
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| 166 |
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"w": 0.6784616953312497,
|
| 167 |
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"xyz": [
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|
| 171 |
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]
|
| 172 |
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}
|
| 173 |
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}
|
| 174 |
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}
|
| 175 |
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},
|
| 176 |
+
{
|
| 177 |
+
"part_name": "blade frame",
|
| 178 |
+
"mask_color": "Orange",
|
| 179 |
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"graspable": true,
|
| 180 |
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"grasp_scenarios": [
|
| 181 |
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{
|
| 182 |
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"scenario": "pinch the head/frame to briefly reposition the peeler during setup",
|
| 183 |
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"confidence": 0.32
|
| 184 |
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},
|
| 185 |
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{
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"scenario": "grasp the frame to retrieve the peeler from a tight drawer when the handle is obstructed",
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"confidence": 0.27
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}
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],
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"hold the cutting blade",
|
| 192 |
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"guide peeling edge",
|
| 193 |
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"support blade alignment",
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| 194 |
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"connect blade to handle"
|
| 195 |
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],
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"semantic_description": "U-shaped head at the front surrounding the blade, with light gray/off-white side arms and a darker inner crosspiece around the blade, smooth rigid construction, compact and slightly curved across the front of the peeler.",
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},
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| 327 |
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"grasp_15": {
|
| 328 |
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]
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}
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},
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"grasp_16": {
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| 344 |
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| 345 |
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],
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]
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}
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},
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| 360 |
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|
| 365 |
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],
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| 366 |
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"orientation": {
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| 368 |
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]
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| 373 |
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}
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| 374 |
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}
|
| 375 |
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}
|
| 376 |
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},
|
| 377 |
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{
|
| 378 |
+
"part_name": "rear oval insert",
|
| 379 |
+
"mask_color": "Pink",
|
| 380 |
+
"graspable": false,
|
| 381 |
+
"grasp_scenarios": [],
|
| 382 |
+
"functional_labels": [
|
| 383 |
+
"visual accent on handle end",
|
| 384 |
+
"cover or trim around the hanging-hole region",
|
| 385 |
+
"rear handle detail"
|
| 386 |
+
],
|
| 387 |
+
"semantic_description": "Small oval pink-masked insert near the rear end of the handle, appearing as a filled trim/detail region adjacent to the hanging hole rather than the open hole itself.",
|
| 388 |
+
"id": 8,
|
| 389 |
+
"grasp_group": {}
|
| 390 |
+
},
|
| 391 |
+
{
|
| 392 |
+
"part_name": "potato-eye remover tip",
|
| 393 |
+
"mask_color": "Magenta",
|
| 394 |
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"graspable": false,
|
| 395 |
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"grasp_scenarios": [],
|
| 396 |
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"functional_labels": [
|
| 397 |
+
"remove potato eyes",
|
| 398 |
+
"scrape small blemishes",
|
| 399 |
+
"provide pointed auxiliary tool"
|
| 400 |
+
],
|
| 401 |
+
"semantic_description": "Small pointed protruding tip near the blade head on the side/front of the peeler, light colored and rigid, with a short triangular hook-like shape.",
|
| 402 |
+
"id": 7,
|
| 403 |
+
"grasp_group": {}
|
| 404 |
+
}
|
| 405 |
+
],
|
| 406 |
+
"quality_check": {
|
| 407 |
+
"success": true,
|
| 408 |
+
"message": "YES"
|
| 409 |
+
}
|
| 410 |
+
}
|
dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e027eabd1891dfce375fe50ac2907ae1fd8f1d4cba4490ec57f51a93b9f14be9
|
| 3 |
+
size 3817484
|
dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/peeler_016.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>NO: {"summary":"Small magenta regions fragment holes, hook, and blade tips; not actionable functional parts.","merge_groups":[{"colors":["Pink","Teal"],"target_part":"handle body","reason":"Pink patches are handle hole/grip details, not separate parts"},{"colors":["Magenta","Orange"],"target_part":"blade assembly","reason":"Magenta pieces are blade tips and tiny attachments"}]}</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>NO: {"summary":"Small magenta regions fragment holes, hook, and blade tips; not actionable functional parts.","merge_groups":[{"colors":["Pink","Teal"],"target_part":"handle body","reason":"Pink patches are handle hole/grip details, not separate parts"},{"colors":["Magenta","Orange"],"target_part":"blade assembly","reason":"Magenta pieces are blade tips and tiny attachments"}]}</PartSegChecker>
|