Add asset kitchen_supplies/cutting_tools/a3899e7b138457b79d2da6f02a1132ad
Browse files- .gitattributes +1 -1
- dataset/kitchen_supplies/cutting_tools/a3899e7b138457b79d2da6f02a1132ad/affordance/affordance_annot.json +477 -0
- dataset/kitchen_supplies/cutting_tools/a3899e7b138457b79d2da6f02a1132ad/affordance/mesh_part_seg.glb +3 -0
- dataset/kitchen_supplies/cutting_tools/a3899e7b138457b79d2da6f02a1132ad/wire_cutters_004.urdf +1 -0
.gitattributes
CHANGED
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@@ -7027,4 +7027,4 @@ dataset/kitchen_supplies/cutting_tools/99fad3b2419b50afb14eb340190194c8/affordan
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| 7027 |
dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7028 |
dataset/kitchen_supplies/cutting_tools/9e09da6301c05ef1b4759bd2e57f0291/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7029 |
dataset/kitchen_supplies/cutting_tools/9eaa9260bd2b5ed19159274b5dcb4dfa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7030 |
-
dataset/kitchen_supplies/cutting_tools/
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| 7027 |
dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7028 |
dataset/kitchen_supplies/cutting_tools/9e09da6301c05ef1b4759bd2e57f0291/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7029 |
dataset/kitchen_supplies/cutting_tools/9eaa9260bd2b5ed19159274b5dcb4dfa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7030 |
+
dataset/kitchen_supplies/cutting_tools/a3899e7b138457b79d2da6f02a1132ad/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/cutting_tools/a3899e7b138457b79d2da6f02a1132ad/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,477 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "handle grips",
|
| 5 |
+
"mask_color": "Purple",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp both handle grips to pick up and reposition the pliers",
|
| 10 |
+
"confidence": 0.98
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle grips to squeeze and operate the jaws",
|
| 14 |
+
"confidence": 0.99
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp one handle grip to stabilize or orient the tool during manipulation",
|
| 18 |
+
"confidence": 0.74
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"primary handhold for the tool",
|
| 23 |
+
"provide leverage for squeezing",
|
| 24 |
+
"improve grip friction",
|
| 25 |
+
"support controlled tool orientation"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Two long black or very dark gray rubber-coated handles with a mostly matte finish and textured grip panels, extending from the central joint as the largest rear parts of the pliers.",
|
| 28 |
+
"id": 5,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.976489245891571,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.09248461970128119,
|
| 34 |
+
0.07805097941309214,
|
| 35 |
+
0.0181288134517672
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.22472918367274522,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.742362232546533,
|
| 41 |
+
-0.1610624519247682,
|
| 42 |
+
0.6102900919024415
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_2": {
|
| 47 |
+
"confidence": 0.9710000157356262,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.08807465829886496,
|
| 50 |
+
0.08282913360744715,
|
| 51 |
+
0.022679626217723126
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
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"w": 0.26672223475227097,
|
| 55 |
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"xyz": [
|
| 56 |
+
0.770384742111041,
|
| 57 |
+
-0.14881909817355365,
|
| 58 |
+
0.5596601420773766
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_3": {
|
| 63 |
+
"confidence": 0.9699071049690247,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.09579833247698843,
|
| 66 |
+
0.06349024269729853,
|
| 67 |
+
-0.0028100381859985646
|
| 68 |
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],
|
| 69 |
+
"orientation": {
|
| 70 |
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"w": 0.6805020482369905,
|
| 71 |
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"xyz": [
|
| 72 |
+
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|
| 73 |
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0.6765728590307875,
|
| 74 |
+
-0.19778381355741292
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_5": {
|
| 79 |
+
"confidence": 0.9693165421485901,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.11322875716723502,
|
| 82 |
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0.005411145277321339,
|
| 83 |
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-0.007572678641736275
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.7186652032548363,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.03747758678427459,
|
| 89 |
+
0.6938618982621354,
|
| 90 |
+
0.025911816987190632
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_6": {
|
| 95 |
+
"confidence": 0.9688403010368347,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.10620159306563437,
|
| 98 |
+
0.04565404821187258,
|
| 99 |
+
-0.002755059420451289
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.6972134301287678,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.11756004894022402,
|
| 105 |
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0.6938803805965689,
|
| 106 |
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-0.136393127262374
|
| 107 |
+
]
|
| 108 |
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}
|
| 109 |
+
},
|
| 110 |
+
"grasp_8": {
|
| 111 |
+
"confidence": 0.968026876449585,
|
| 112 |
+
"position": [
|
| 113 |
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-0.10821789898909628,
|
| 114 |
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-0.006078426726162434,
|
| 115 |
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-0.0003562099846021738
|
| 116 |
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],
|
| 117 |
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"orientation": {
|
| 118 |
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"w": 0.06890288740400415,
|
| 119 |
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"xyz": [
|
| 120 |
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-0.6942851634569691,
|
| 121 |
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-0.09267288424795594,
|
| 122 |
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-0.7103747183255369
|
| 123 |
+
]
|
| 124 |
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}
|
| 125 |
+
},
|
| 126 |
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"grasp_9": {
|
| 127 |
+
"confidence": 0.9672031402587891,
|
| 128 |
+
"position": [
|
| 129 |
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-0.11333024152554572,
|
| 130 |
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0.017187596298754215,
|
| 131 |
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-0.008845968895911938
|
| 132 |
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],
|
| 133 |
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"orientation": {
|
| 134 |
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"w": 0.7190724774963638,
|
| 135 |
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"xyz": [
|
| 136 |
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0.01744553426288464,
|
| 137 |
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0.6944362601340304,
|
| 138 |
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-0.019715629652262166
|
| 139 |
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]
|
| 140 |
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}
|
| 141 |
+
},
|
| 142 |
+
"grasp_11": {
|
| 143 |
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"confidence": 0.963507890701294,
|
| 144 |
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"position": [
|
| 145 |
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|
| 146 |
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|
| 147 |
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-0.0017990699525398668
|
| 148 |
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],
|
| 149 |
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"orientation": {
|
| 150 |
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"w": 0.7023957303028356,
|
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|
dataset/kitchen_supplies/cutting_tools/a3899e7b138457b79d2da6f02a1132ad/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 sha256:15d452e5d433ac484c862046731d233cdee35d214fb13cdaffa06953dddf8cbb
|
| 3 |
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size 3792412
|
dataset/kitchen_supplies/cutting_tools/a3899e7b138457b79d2da6f02a1132ad/wire_cutters_004.urdf
CHANGED
|
@@ -54,6 +54,7 @@
|
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
|
|
|
| 57 |
</affordance>
|
| 58 |
<quality>
|
| 59 |
<PartSegChecker>YES</PartSegChecker>
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|
|
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
| 57 |
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 58 |
</affordance>
|
| 59 |
<quality>
|
| 60 |
<PartSegChecker>YES</PartSegChecker>
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