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Add asset kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010

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Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/affordance/affordance_annot.json +584 -0
  3. dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/affordance/mesh_part_seg.glb +3 -0
  4. dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/thermos_005.urdf +4 -3
.gitattributes CHANGED
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  dataset/kitchen_supplies/ware/b6856d6f97425859866e4e428a1c4918/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
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dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/affordance/affordance_annot.json ADDED
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+ "seal around the drinking opening",
516
+ "seat the spout assembly",
517
+ "reduce leakage"
518
+ ],
519
+ "semantic_description": "Small pale yellow ring around the spout opening at the center of the top, likely a soft sealing component with a smooth finish.",
520
+ "id": 21,
521
+ "grasp_group": {}
522
+ },
523
+ {
524
+ "part_name": "push button",
525
+ "mask_color": "Lawn Green",
526
+ "graspable": false,
527
+ "grasp_scenarios": [],
528
+ "functional_labels": [
529
+ "press to release lid latch",
530
+ "trigger opening mechanism",
531
+ "control lid actuation"
532
+ ],
533
+ "semantic_description": "Small pale yellow button on the side of the top assembly, with a smooth plastic surface and rounded shape sized for pressing.",
534
+ "id": 24,
535
+ "grasp_group": {}
536
+ },
537
+ {
538
+ "part_name": "button housing",
539
+ "mask_color": "Maroon",
540
+ "graspable": false,
541
+ "grasp_scenarios": [],
542
+ "functional_labels": [
543
+ "mount the release button",
544
+ "protect button mechanism",
545
+ "connect latch components"
546
+ ],
547
+ "semantic_description": "Small orange-peach side housing attached near the upper rim, surrounding and supporting the push-button assembly.",
548
+ "id": 12,
549
+ "grasp_group": {}
550
+ },
551
+ {
552
+ "part_name": "lid hinge",
553
+ "mask_color": "Jade",
554
+ "graspable": false,
555
+ "grasp_scenarios": [],
556
+ "functional_labels": [
557
+ "pivot the flip lid",
558
+ "connect lid to top",
559
+ "guide opening motion"
560
+ ],
561
+ "semantic_description": "Small light blue hinge piece at the side-rear of the top assembly, linking the flip lid to the collar and enabling rotation.",
562
+ "id": 19,
563
+ "grasp_group": {}
564
+ },
565
+ {
566
+ "part_name": "hinge pin",
567
+ "mask_color": "White",
568
+ "graspable": false,
569
+ "grasp_scenarios": [],
570
+ "functional_labels": [
571
+ "retain hinge connection",
572
+ "align moving parts",
573
+ "support lid mechanism"
574
+ ],
575
+ "semantic_description": "Very small white connector beside the hinge area, acting as a minor joining element in the lid mechanism.",
576
+ "id": 17,
577
+ "grasp_group": {}
578
+ }
579
+ ],
580
+ "quality_check": {
581
+ "success": false,
582
+ "message": "Several semantic descriptions use wrong colors/materials; top collar and base descriptions clearly mismatch the RGB object."
583
+ }
584
+ }
dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/affordance/mesh_part_seg.glb ADDED
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+ size 3820764
dataset/kitchen_supplies/ware/b6cd97fc561f59f6b8edc12d1f7b2010/thermos_005.urdf CHANGED
@@ -47,16 +47,17 @@
47
  </link>
48
  <custom_data>
49
  <affordance>
50
- <part_count>0</part_count>
51
  <visual_seg>
52
  <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
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  <geometry>
54
- <mesh filename="None" scale="1.0 1.0 1.0" />
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  </geometry>
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  </visual_seg>
 
57
  </affordance>
58
  <quality>
59
- <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
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  </quality>
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  </custom_data>
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  </robot>
 
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  </link>
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  <custom_data>
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  <affordance>
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+ <part_count>11</part_count>
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  <visual_seg>
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  <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
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  <geometry>
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+ <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
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  </geometry>
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  </visual_seg>
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+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
58
  </affordance>
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  <quality>
60
+ <PartSegChecker>NO: {"summary":"Main body and lid are reasonable, but small cap/hinge/button areas are overfragmented into many colors.","merge_groups":[{"colors":["Maroon","Lawn Green","Jade"],"target_part":"hinge/latch assembly","reason":"same side latch mechanism split into tiny adjacent pieces"},{"colors":["Gold","Deep Sky Blue"],"target_part":"spout/straw","reason":"single drinking spout split into two connected regions"},{"colors":["White","Jade"],"target_part":"hinge connector","reason":"small connector pieces are one physical joint"}]}</PartSegChecker>
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  </quality>
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  </custom_data>
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  </robot>