Add asset kitchen_supplies/cutting_tools/c7f44546db7b55a0a75f6c0b11461d63
Browse files- .gitattributes +1 -0
- dataset/kitchen_supplies/cutting_tools/c7f44546db7b55a0a75f6c0b11461d63/affordance/affordance_annot.json +370 -0
- dataset/kitchen_supplies/cutting_tools/c7f44546db7b55a0a75f6c0b11461d63/affordance/mesh_part_seg.glb +3 -0
- dataset/kitchen_supplies/cutting_tools/c7f44546db7b55a0a75f6c0b11461d63/wire_cutters_012.urdf +4 -3
.gitattributes
CHANGED
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@@ -7043,3 +7043,4 @@ dataset/kitchen_supplies/cutting_tools/bc11cf173de25f519fc68963532a490a/affordan
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| 7043 |
dataset/kitchen_supplies/cutting_tools/bd5f944388ca514b9ef000b2c84481d8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7044 |
dataset/kitchen_supplies/cutting_tools/c2ef6437baa45d449e506dc48428e224/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7045 |
dataset/kitchen_supplies/cutting_tools/c4ab5b550965584085a829e7e4424bd0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7043 |
dataset/kitchen_supplies/cutting_tools/bd5f944388ca514b9ef000b2c84481d8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7044 |
dataset/kitchen_supplies/cutting_tools/c2ef6437baa45d449e506dc48428e224/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7045 |
dataset/kitchen_supplies/cutting_tools/c4ab5b550965584085a829e7e4424bd0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7046 |
+
dataset/kitchen_supplies/cutting_tools/c7f44546db7b55a0a75f6c0b11461d63/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/cutting_tools/c7f44546db7b55a0a75f6c0b11461d63/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "blue handle-and-jaw half",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the blue-coated handle to pick up and reposition the pliers",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold this side by the handle to stabilize the tool while manipulating the other handle",
|
| 14 |
+
"confidence": 0.83
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pinch the blue jaw area for careful close-in reorientation, avoiding the serrated gripping edge",
|
| 18 |
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"confidence": 0.35
|
| 19 |
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}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide one handle for hand or gripper contact",
|
| 23 |
+
"transmit squeezing force to the plier head",
|
| 24 |
+
"support overall tool handling",
|
| 25 |
+
"form one half of the gripping jaw assembly"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "One half of the pliers, including a long blue rubber- or plastic-coated handle with a matte slightly textured surface and a silver metal jaw/head section with a smooth reflective finish, extending from the central joint along one side of the tool.",
|
| 28 |
+
"id": 2,
|
| 29 |
+
"grasp_group": {
|
| 30 |
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"grasp_20": {
|
| 31 |
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"confidence": 0.9768431186676025,
|
| 32 |
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"position": [
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| 33 |
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| 34 |
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| 36 |
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],
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| 37 |
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"orientation": {
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| 38 |
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"w": 0.40350383986354094,
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| 42 |
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| 44 |
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| 45 |
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},
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| 46 |
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"grasp_25": {
|
| 47 |
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"confidence": 0.9690370559692383,
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| 48 |
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"position": [
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| 50 |
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| 51 |
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| 60 |
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| 61 |
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| 62 |
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"grasp_26": {
|
| 63 |
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"confidence": 0.9677652716636658,
|
| 64 |
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"position": [
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| 65 |
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| 66 |
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| 67 |
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"orientation": {
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| 77 |
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| 78 |
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| 83 |
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| 84 |
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],
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| 85 |
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"orientation": {
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| 86 |
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"w": 0.7298638877458831,
|
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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_32": {
|
| 95 |
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"confidence": 0.9609227776527405,
|
| 96 |
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"position": [
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| 97 |
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| 98 |
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|
| 99 |
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| 100 |
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],
|
| 101 |
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"orientation": {
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| 102 |
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"xyz": [
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|
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"grasp_33": {
|
| 111 |
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|
| 112 |
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| 123 |
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| 124 |
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|
| 127 |
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"confidence": 0.9601531028747559,
|
| 128 |
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| 129 |
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],
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| 139 |
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|
| 141 |
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},
|
| 142 |
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"grasp_36": {
|
| 143 |
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"confidence": 0.959917426109314,
|
| 144 |
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"position": [
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| 145 |
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|
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],
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"orientation": {
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},
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| 159 |
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"confidence": 0.9589777588844299,
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"orientation": {
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"xyz": [
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| 171 |
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]
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| 172 |
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|
| 173 |
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},
|
| 174 |
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"grasp_39": {
|
| 175 |
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"confidence": 0.9589288830757141,
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| 176 |
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"position": [
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| 177 |
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|
| 180 |
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],
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"orientation": {
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"w": 0.2749641327095411,
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"xyz": [
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|
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}
|
| 190 |
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}
|
| 191 |
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},
|
| 192 |
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{
|
| 193 |
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"part_name": "red handle-and-jaw half",
|
| 194 |
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"mask_color": "Red",
|
| 195 |
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"graspable": true,
|
| 196 |
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"grasp_scenarios": [
|
| 197 |
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{
|
| 198 |
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{
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{
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"scenario": "pinch the red jaw area for careful close-in reorientation, avoiding the serrated gripping edge",
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],
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}
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| 364 |
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}
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| 365 |
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],
|
| 366 |
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"quality_check": {
|
| 367 |
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"success": false,
|
| 368 |
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"message": "RGB shows black handles, not blue/red; semantic descriptions and part names misuse mask colors as real colors."
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| 369 |
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}
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| 370 |
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}
|
dataset/kitchen_supplies/cutting_tools/c7f44546db7b55a0a75f6c0b11461d63/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:89be01834c05598be82c887ee4f3425a0afcef4da8e4a5e8cab5c11cb5c6b5d5
|
| 3 |
+
size 3807952
|
dataset/kitchen_supplies/cutting_tools/c7f44546db7b55a0a75f6c0b11461d63/wire_cutters_012.urdf
CHANGED
|
@@ -51,16 +51,17 @@
|
|
| 51 |
</link>
|
| 52 |
<custom_data>
|
| 53 |
<affordance>
|
| 54 |
-
<part_count>
|
| 55 |
<visual_seg>
|
| 56 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 57 |
<geometry>
|
| 58 |
-
<mesh filename="
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
|
|
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
-
<PartSegChecker>NO:
|
| 64 |
</quality>
|
| 65 |
</custom_data>
|
| 66 |
</robot>
|
|
|
|
| 51 |
</link>
|
| 52 |
<custom_data>
|
| 53 |
<affordance>
|
| 54 |
+
<part_count>3</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":"Masks split the tool by left/right halves instead of functional parts; handles, jaws, and pivot are mixed.","merge_groups":[]}</PartSegChecker>
|
| 65 |
</quality>
|
| 66 |
</custom_data>
|
| 67 |
</robot>
|