Add asset kitchen_supplies/cutting_tools/f96101f739745c6fb001da94a23ae74f
Browse files- .gitattributes +1 -0
- dataset/kitchen_supplies/cutting_tools/f96101f739745c6fb001da94a23ae74f/affordance/affordance_annot.json +677 -0
- dataset/kitchen_supplies/cutting_tools/f96101f739745c6fb001da94a23ae74f/affordance/mesh_part_seg.glb +3 -0
- dataset/kitchen_supplies/cutting_tools/f96101f739745c6fb001da94a23ae74f/wire_cutters_016.urdf +1 -0
.gitattributes
CHANGED
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@@ -7061,3 +7061,4 @@ dataset/kitchen_supplies/cutting_tools/f0fabca37d6456178f293e238ea1dcb8/affordan
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| 7061 |
dataset/kitchen_supplies/cutting_tools/f16f71f0d3f65a359abcf8f4d7a255bf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7062 |
dataset/kitchen_supplies/cutting_tools/f1bb99024a5a565cb72d063643a70f36/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7063 |
dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7061 |
dataset/kitchen_supplies/cutting_tools/f16f71f0d3f65a359abcf8f4d7a255bf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7062 |
dataset/kitchen_supplies/cutting_tools/f1bb99024a5a565cb72d063643a70f36/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7063 |
dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7064 |
+
dataset/kitchen_supplies/cutting_tools/f96101f739745c6fb001da94a23ae74f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/cutting_tools/f96101f739745c6fb001da94a23ae74f/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,677 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "handle grips",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp both insulated handles to pick up and manipulate the cutters",
|
| 10 |
+
"confidence": 0.98
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handles while squeezing them together to actuate the cutting jaws",
|
| 14 |
+
"confidence": 0.98
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp one handle to stabilize or reorient the tool on a work surface",
|
| 18 |
+
"confidence": 0.74
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"primary grip surface",
|
| 23 |
+
"enable squeezing action",
|
| 24 |
+
"provide leverage",
|
| 25 |
+
"insulate the user from the metal body",
|
| 26 |
+
"support tool manipulation"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Two long curved insulated handles forming the rear of the tool, with yellow main bodies and red outer grip overmold accents, a mostly matte finish, smooth slightly textured contours, and printed markings visible on one handle in some views.",
|
| 29 |
+
"id": 3,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
+
"confidence": 0.9619842767715454,
|
| 33 |
+
"position": [
|
| 34 |
+
0.019575095735490322,
|
| 35 |
+
-0.10860364139080048,
|
| 36 |
+
-0.003445775684667751
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.6044151133175149,
|
| 40 |
+
"xyz": [
|
| 41 |
+
-0.38165393513658313,
|
| 42 |
+
-0.5905053326828644,
|
| 43 |
+
-0.374601250213124
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_1": {
|
| 48 |
+
"confidence": 0.9570353031158447,
|
| 49 |
+
"position": [
|
| 50 |
+
-0.14403604809194803,
|
| 51 |
+
-0.020355770364403725,
|
| 52 |
+
0.003477140358882025
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.023909510727558106,
|
| 56 |
+
"xyz": [
|
| 57 |
+
-0.712623109143006,
|
| 58 |
+
-0.01043816943962017,
|
| 59 |
+
-0.7010618262542001
|
| 60 |
+
]
|
| 61 |
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}
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| 648 |
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| 651 |
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"transmit squeezing force",
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| 652 |
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"set jaw alignment"
|
| 653 |
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],
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| 654 |
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"semantic_description": "Small circular metallic pivot at the center with a smooth reflective finish and disc-like form, located where the two arms cross and rotate.",
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| 655 |
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| 656 |
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| 657 |
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},
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{
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"support local handle geometry"
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| 667 |
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],
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"semantic_description": "Small dark insert-like piece on the inner side of a handle near the joint, appearing matte and compact with a rounded wedge-like shape.",
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| 669 |
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"id": 13,
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| 670 |
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],
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"quality_check": {
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| 674 |
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"success": false,
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| 675 |
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"message": "Mask-color mapping and one part identity are incorrect; navy part is a handle guard, not inner insert."
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| 676 |
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}
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| 677 |
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}
|
dataset/kitchen_supplies/cutting_tools/f96101f739745c6fb001da94a23ae74f/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:8468488d62693df6c623991a5da1bb191722ac02e6e485e7cf2c5c57677a21ea
|
| 3 |
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size 3794292
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dataset/kitchen_supplies/cutting_tools/f96101f739745c6fb001da94a23ae74f/wire_cutters_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>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>
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