Add asset kitchen_supplies/cutting_tools/eba1fcfcd3e95716aa9f15e29646d04c
Browse files- .gitattributes +1 -1
- dataset/kitchen_supplies/cutting_tools/eba1fcfcd3e95716aa9f15e29646d04c/affordance/affordance_annot.json +439 -0
- dataset/kitchen_supplies/cutting_tools/eba1fcfcd3e95716aa9f15e29646d04c/affordance/mesh_part_seg.glb +3 -0
- dataset/kitchen_supplies/cutting_tools/eba1fcfcd3e95716aa9f15e29646d04c/wire_cutters_011.urdf +1 -0
.gitattributes
CHANGED
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@@ -7053,4 +7053,4 @@ dataset/kitchen_supplies/cutting_tools/da85e229c7bc5c2590341aadf06219d6/affordan
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| 7053 |
dataset/kitchen_supplies/cutting_tools/ddb30c644de453c98f37fee537825b9f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7054 |
dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7055 |
dataset/kitchen_supplies/cutting_tools/e2b7bbd670bc5533969440f1afcb397b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7056 |
-
dataset/kitchen_supplies/cutting_tools/
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| 7053 |
dataset/kitchen_supplies/cutting_tools/ddb30c644de453c98f37fee537825b9f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7054 |
dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7055 |
dataset/kitchen_supplies/cutting_tools/e2b7bbd670bc5533969440f1afcb397b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7056 |
+
dataset/kitchen_supplies/cutting_tools/eba1fcfcd3e95716aa9f15e29646d04c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/cutting_tools/eba1fcfcd3e95716aa9f15e29646d04c/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,439 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "cutting jaws",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the closed metal jaws to pick up or reposition the pliers when the handles are inaccessible",
|
| 10 |
+
"confidence": 0.38
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the jaws carefully to stabilize the tool during handoff or inspection",
|
| 14 |
+
"confidence": 0.32
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"cut wire",
|
| 19 |
+
"form the working end",
|
| 20 |
+
"apply localized force at the tip"
|
| 21 |
+
],
|
| 22 |
+
"semantic_description": "Short silver metal cutting jaws with a smooth reflective finish and dark cutting edges near the tip, forming the front working end of the pliers.",
|
| 23 |
+
"id": 0,
|
| 24 |
+
"grasp_group": {
|
| 25 |
+
"grasp_0": {
|
| 26 |
+
"confidence": 0.9752050042152405,
|
| 27 |
+
"position": [
|
| 28 |
+
0.09951334726065397,
|
| 29 |
+
-0.0878192824893631,
|
| 30 |
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0.003380677222594386
|
| 31 |
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],
|
| 32 |
+
"orientation": {
|
| 33 |
+
"w": 0.33876606663992176,
|
| 34 |
+
"xyz": [
|
| 35 |
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-0.6257148805432526,
|
| 36 |
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0.3527974232388297,
|
| 37 |
+
0.6076614341194457
|
| 38 |
+
]
|
| 39 |
+
}
|
| 40 |
+
},
|
| 41 |
+
"grasp_2": {
|
| 42 |
+
"confidence": 0.9747217893600464,
|
| 43 |
+
"position": [
|
| 44 |
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|
| 45 |
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-0.09970769711071625,
|
| 46 |
+
-0.0011581337057577912
|
| 47 |
+
],
|
| 48 |
+
"orientation": {
|
| 49 |
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"w": 0.5004893201346312,
|
| 50 |
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"xyz": [
|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
+
]
|
| 55 |
+
}
|
| 56 |
+
},
|
| 57 |
+
"grasp_4": {
|
| 58 |
+
"confidence": 0.9740997552871704,
|
| 59 |
+
"position": [
|
| 60 |
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|
| 61 |
+
-0.09611469187075272,
|
| 62 |
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-0.010418704918265576
|
| 63 |
+
],
|
| 64 |
+
"orientation": {
|
| 65 |
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"w": 0.48648979197195485,
|
| 66 |
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"xyz": [
|
| 67 |
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-0.5006944819461627,
|
| 68 |
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0.4446697827717485,
|
| 69 |
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0.5611608524705497
|
| 70 |
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]
|
| 71 |
+
}
|
| 72 |
+
},
|
| 73 |
+
"grasp_8": {
|
| 74 |
+
"confidence": 0.9710546731948853,
|
| 75 |
+
"position": [
|
| 76 |
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|
| 77 |
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0.0958984675235115,
|
| 78 |
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0.028575763830303913
|
| 79 |
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],
|
| 80 |
+
"orientation": {
|
| 81 |
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"w": 0.4254978825008222,
|
| 82 |
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"xyz": [
|
| 83 |
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|
| 84 |
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0.5817228542602463,
|
| 85 |
+
-0.4205818799466294
|
| 86 |
+
]
|
| 87 |
+
}
|
| 88 |
+
},
|
| 89 |
+
"grasp_11": {
|
| 90 |
+
"confidence": 0.9696792364120483,
|
| 91 |
+
"position": [
|
| 92 |
+
0.047491914592683315,
|
| 93 |
+
0.09830400667851791,
|
| 94 |
+
-0.005164623933524126
|
| 95 |
+
],
|
| 96 |
+
"orientation": {
|
| 97 |
+
"w": 0.48804689494905074,
|
| 98 |
+
"xyz": [
|
| 99 |
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0.5070869883679396,
|
| 100 |
+
0.48569744222120603,
|
| 101 |
+
-0.51843129648807
|
| 102 |
+
]
|
| 103 |
+
}
|
| 104 |
+
},
|
| 105 |
+
"grasp_13": {
|
| 106 |
+
"confidence": 0.968340277671814,
|
| 107 |
+
"position": [
|
| 108 |
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0.10897333454340696,
|
| 109 |
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-0.07895774074131623,
|
| 110 |
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0.019200737380742794
|
| 111 |
+
],
|
| 112 |
+
"orientation": {
|
| 113 |
+
"w": 0.5806072657450978,
|
| 114 |
+
"xyz": [
|
| 115 |
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-0.41182542103991904,
|
| 116 |
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-0.6646960685427695,
|
| 117 |
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-0.22687917932917565
|
| 118 |
+
]
|
| 119 |
+
}
|
| 120 |
+
},
|
| 121 |
+
"grasp_14": {
|
| 122 |
+
"confidence": 0.9647114872932434,
|
| 123 |
+
"position": [
|
| 124 |
+
0.09148355852812529,
|
| 125 |
+
0.0884926351136528,
|
| 126 |
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-0.005271907171845669
|
| 127 |
+
],
|
| 128 |
+
"orientation": {
|
| 129 |
+
"w": 0.37391517175634814,
|
| 130 |
+
"xyz": [
|
| 131 |
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0.5979028255886577,
|
| 132 |
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0.3397215548766922,
|
| 133 |
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-0.6223254137793844
|
| 134 |
+
]
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"grasp_17": {
|
| 138 |
+
"confidence": 0.9625146985054016,
|
| 139 |
+
"position": [
|
| 140 |
+
0.05702394898980856,
|
| 141 |
+
0.09336384705966339,
|
| 142 |
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-0.0010314356513845269
|
| 143 |
+
],
|
| 144 |
+
"orientation": {
|
| 145 |
+
"w": 0.4860640919111222,
|
| 146 |
+
"xyz": [
|
| 147 |
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0.5278867148023345,
|
| 148 |
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0.4599396492686433,
|
| 149 |
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-0.5230036653030771
|
| 150 |
+
]
|
| 151 |
+
}
|
| 152 |
+
}
|
| 153 |
+
}
|
| 154 |
+
},
|
| 155 |
+
{
|
| 156 |
+
"part_name": "right handle",
|
| 157 |
+
"mask_color": "Blue",
|
| 158 |
+
"graspable": true,
|
| 159 |
+
"grasp_scenarios": [
|
| 160 |
+
{
|
| 161 |
+
"scenario": "grasp the handle to pick up the pliers",
|
| 162 |
+
"confidence": 0.94
|
| 163 |
+
},
|
| 164 |
+
{
|
| 165 |
+
"scenario": "hold one handle while positioning the tool for a cutting task",
|
| 166 |
+
"confidence": 0.83
|
| 167 |
+
},
|
| 168 |
+
{
|
| 169 |
+
"scenario": "stabilize the tool by clamping this handle during storage or transfer",
|
| 170 |
+
"confidence": 0.74
|
| 171 |
+
}
|
| 172 |
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],
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"transmit squeezing force",
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"control tool orientation",
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"support safe handling"
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],
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],
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}
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}
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},
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{
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| 301 |
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"connect jaws and handles",
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"enable rotational motion",
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| 304 |
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"transmit force between arms",
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| 305 |
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"align the gripping head"
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| 306 |
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],
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"semantic_description": "Small round silver metal rivet at the center with a smooth slightly reflective hard finish, joining the two halves at the tool's middle.",
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| 308 |
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| 309 |
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| 310 |
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},
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{
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| 312 |
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"part_name": "pivot housing",
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| 313 |
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"mask_color": "Purple",
|
| 314 |
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|
| 315 |
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|
| 316 |
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"functional_labels": [
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"support the hinge",
|
| 318 |
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"reinforce the joint area",
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| 319 |
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"maintain alignment",
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| 320 |
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"connect handles to jaws"
|
| 321 |
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],
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"semantic_description": "Compact silver and dark metal joint area around the central pivot, with a hard smooth finish and chunky shape located between the jaws and handles.",
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"id": 5,
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"grasp_group": {}
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},
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{
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"part_name": "left handle",
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"mask_color": "Pink",
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| 329 |
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"graspable": true,
|
| 330 |
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{
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"scenario": "grasp the handle to pick up the pliers",
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| 333 |
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"confidence": 0.93
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| 334 |
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},
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{
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| 336 |
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"scenario": "hold one handle while positioning the tool for a cutting task",
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| 337 |
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"confidence": 0.82
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| 338 |
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},
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| 339 |
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{
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"scenario": "stabilize the tool by clamping this handle during storage or transfer",
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}
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],
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"control tool orientation",
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"support safe handling"
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| 349 |
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],
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"semantic_description": "Long curved red handle with a gray rubber tip and textured grip patch, likely metal-cored with a matte slightly textured surface, forming the opposite rear gripping arm.",
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"id": 8,
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},
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},
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],
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},
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],
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}
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}
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},
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| 419 |
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{
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"part_name": "return spring",
|
| 421 |
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|
| 423 |
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| 424 |
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"reopen the handles",
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"assist repeated squeezing",
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"maintain handle spacing",
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| 428 |
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"reduce user effort"
|
| 429 |
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],
|
| 430 |
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"semantic_description": "Small thin brownish metal leaf-spring element near the inner handle area, located close to the pivot between the handles.",
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| 431 |
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"id": 11,
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| 432 |
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|
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}
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],
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| 435 |
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"quality_check": {
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| 436 |
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"success": false,
|
| 437 |
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"message": "Jaw type mislabeled and spring color/description mismatch with images."
|
| 438 |
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}
|
| 439 |
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}
|
dataset/kitchen_supplies/cutting_tools/eba1fcfcd3e95716aa9f15e29646d04c/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:eccc431cb98991e357d5406f58c6927f0470af4602a71029f46578799a243b29
|
| 3 |
+
size 3782988
|
dataset/kitchen_supplies/cutting_tools/eba1fcfcd3e95716aa9f15e29646d04c/wire_cutters_011.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 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 62 |
</affordance>
|
| 63 |
<quality>
|
| 64 |
<PartSegChecker>YES</PartSegChecker>
|