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Add asset kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3

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Files changed (4) hide show
  1. .gitattributes +1 -1
  2. dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/affordance/affordance_annot.json +633 -0
  3. dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/affordance/mesh_part_seg.glb +3 -0
  4. dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/garlic_press_018.urdf +4 -3
.gitattributes CHANGED
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+ "user input interface",
508
+ "select operating mode",
509
+ "display control icons",
510
+ "control the appliance electronically"
511
+ ],
512
+ "semantic_description": "Long narrow black top panel with a smooth semi-matte finish and printed white control icons along the upper handle surface.",
513
+ "id": 16,
514
+ "grasp_group": {}
515
+ },
516
+ {
517
+ "part_name": "power button",
518
+ "mask_color": "Orange",
519
+ "graspable": false,
520
+ "grasp_scenarios": [],
521
+ "functional_labels": [
522
+ "turn device on or off",
523
+ "initiate operation",
524
+ "control activation"
525
+ ],
526
+ "semantic_description": "Small rounded light gray control button or knob at the end of the top panel, slightly raised for pressing or toggling.",
527
+ "id": 4,
528
+ "grasp_group": {}
529
+ },
530
+ {
531
+ "part_name": "slider switch",
532
+ "mask_color": "Lime Green",
533
+ "graspable": false,
534
+ "grasp_scenarios": [],
535
+ "functional_labels": [
536
+ "adjust setting",
537
+ "change operating mode",
538
+ "provide tactile control"
539
+ ],
540
+ "semantic_description": "Small rectangular switch element on the top control area, dark with a compact hard plastic form.",
541
+ "id": 9,
542
+ "grasp_group": {}
543
+ },
544
+ {
545
+ "part_name": "top pad",
546
+ "mask_color": "Teal",
547
+ "graspable": false,
548
+ "grasp_scenarios": [],
549
+ "functional_labels": [
550
+ "resting surface",
551
+ "cover upper body section",
552
+ "aid hand placement",
553
+ "protect top surface"
554
+ ],
555
+ "semantic_description": "Oval dark gray inset pad with a matte rubber-like appearance on the top rear area of the main body.",
556
+ "id": 10,
557
+ "grasp_group": {}
558
+ },
559
+ {
560
+ "part_name": "pad border",
561
+ "mask_color": "Yellow",
562
+ "graspable": false,
563
+ "grasp_scenarios": [],
564
+ "functional_labels": [
565
+ "frame the pad",
566
+ "separate pad from housing",
567
+ "protect pad edge"
568
+ ],
569
+ "semantic_description": "Thin border surrounding the top pad, visible as a narrow trim integrated into the upper housing around the dark inset pad.",
570
+ "id": 3,
571
+ "grasp_group": {}
572
+ },
573
+ {
574
+ "part_name": "perforated metal drum",
575
+ "mask_color": "Maroon",
576
+ "graspable": true,
577
+ "grasp_scenarios": [
578
+ {
579
+ "scenario": "grasp the metal drum carefully to remove or install it for cleaning or replacement",
580
+ "confidence": 0.62
581
+ },
582
+ {
583
+ "scenario": "hold the drum lightly while another gripper stabilizes the body during maintenance",
584
+ "confidence": 0.41
585
+ }
586
+ ],
587
+ "functional_labels": [
588
+ "grate or shred food",
589
+ "processing drum",
590
+ "provide cutting perforations",
591
+ "dispense processed material"
592
+ ],
593
+ "semantic_description": "Cylindrical silver metal drum with a reflective finish and many perforated cutting openings around the side, mounted at one end of the appliance.",
594
+ "id": 12,
595
+ "grasp_group": {
596
+ "grasp_21": {
597
+ "confidence": 0.7338046431541443,
598
+ "position": [
599
+ 0.1529817171394825,
600
+ 0.003200741164619103,
601
+ 0.012293222825974226
602
+ ],
603
+ "orientation": {
604
+ "w": 0.4976548332311031,
605
+ "xyz": [
606
+ -0.4964381076389925,
607
+ -0.5172430688673892,
608
+ 0.48820946319605885
609
+ ]
610
+ }
611
+ }
612
+ }
613
+ },
614
+ {
615
+ "part_name": "drum rim",
616
+ "mask_color": "Olive",
617
+ "graspable": false,
618
+ "grasp_scenarios": [],
619
+ "functional_labels": [
620
+ "reinforce drum opening",
621
+ "protect edge",
622
+ "help seat the drum in the housing"
623
+ ],
624
+ "semantic_description": "Dark ring around the top of the metal drum with a hard smooth finish and evenly spaced slot-like openings around the circumference.",
625
+ "id": 14,
626
+ "grasp_group": {}
627
+ }
628
+ ],
629
+ "quality_check": {
630
+ "success": false,
631
+ "message": "Several part identities and colors mismatch images: brown is upper housing, crimson is handle/control spine, orange is dial and icons, maroon is drum collar not drum."
632
+ }
633
+ }
dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:bf1c18b44e47946045ee3ef8ccd1291e61a7ef0a23360da2b17581a01cdda5ee
3
+ size 3839416
dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/garlic_press_018.urdf CHANGED
@@ -51,16 +51,17 @@
51
  </link>
52
  <custom_data>
53
  <affordance>
54
- <part_count>0</part_count>
55
  <visual_seg>
56
  <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
57
  <geometry>
58
- <mesh filename="None" scale="1.0 1.0 1.0" />
59
  </geometry>
60
  </visual_seg>
 
61
  </affordance>
62
  <quality>
63
- <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
64
  </quality>
65
  </custom_data>
66
  </robot>
 
51
  </link>
52
  <custom_data>
53
  <affordance>
54
+ <part_count>13</part_count>
55
  <visual_seg>
56
  <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
57
  <geometry>
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":"Major functional parts are misidentified; controls are merged into one color and grater/drum details are inconsistent.","merge_groups":[{"colors":["Orange","Crimson"],"target_part":"top control panel","reason":"same top operating surface"},{"colors":["Teal","Lime Green"],"target_part":"lid or pusher pad","reason":"same inset press surface"}]}</PartSegChecker>
65
  </quality>
66
  </custom_data>
67
  </robot>