Add asset desktop_supplies/office_tools/2d8127a1ec195c60b05f07481d145dc4
Browse files- .gitattributes +2 -1
- dataset/desktop_supplies/office_tools/2d8127a1ec195c60b05f07481d145dc4/affordance/affordance_annot.json +328 -0
- dataset/desktop_supplies/office_tools/2d8127a1ec195c60b05f07481d145dc4/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_tools/2d8127a1ec195c60b05f07481d145dc4/scissor_001.urdf +1 -0
.gitattributes
CHANGED
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@@ -6540,4 +6540,5 @@ dataset/desktop_supplies/office_tools/2852f855d4fe55a694dcbb2712884a93/affordanc
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| 6540 |
dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6541 |
dataset/desktop_supplies/office_tools/2a392f06750153e8b80eeb125dfeb73b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6542 |
dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6543 |
-
dataset/desktop_supplies/office_tools/
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| 6540 |
dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6541 |
dataset/desktop_supplies/office_tools/2a392f06750153e8b80eeb125dfeb73b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6542 |
dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6543 |
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dataset/desktop_supplies/office_tools/2a4bf8c8e22459248f9212a42a081db9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6544 |
+
dataset/desktop_supplies/office_tools/2d8127a1ec195c60b05f07481d145dc4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/2d8127a1ec195c60b05f07481d145dc4/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "scissor half with larger handle loop",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
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{
|
| 9 |
+
"scenario": "grasp the larger handle loop and nearby shank to pick up the scissors safely",
|
| 10 |
+
"confidence": 0.9
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold this half to stabilize the scissors while orienting them for use or inspection",
|
| 14 |
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"confidence": 0.78
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"form one moving half of the scissors",
|
| 19 |
+
"provide one finger handle",
|
| 20 |
+
"carry one cutting blade",
|
| 21 |
+
"rotate about the pivot against the opposing half"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "One full silver metal scissor half with a smooth slightly reflective finish, consisting of a long tapered blade and a larger oval handle loop, extending from the central pivot to the tip and rear handle.",
|
| 24 |
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"id": 0,
|
| 25 |
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"grasp_group": {
|
| 26 |
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"grasp_0": {
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| 27 |
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| 28 |
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| 30 |
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| 31 |
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| 32 |
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],
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| 33 |
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"orientation": {
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"w": 0.5212600110423945,
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| 35 |
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"xyz": [
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| 38 |
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| 39 |
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|
| 40 |
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}
|
| 41 |
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},
|
| 42 |
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"grasp_1": {
|
| 43 |
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"confidence": 0.9689077734947205,
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| 44 |
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"position": [
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| 45 |
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| 48 |
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"orientation": {
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| 59 |
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|
| 91 |
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"confidence": 0.966022253036499,
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| 96 |
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"grasp_9": {
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"grasp_10": {
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| 123 |
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| 203 |
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|
| 214 |
+
0.49527041545639555
|
| 215 |
+
]
|
| 216 |
+
}
|
| 217 |
+
},
|
| 218 |
+
"grasp_17": {
|
| 219 |
+
"confidence": 0.9484343528747559,
|
| 220 |
+
"position": [
|
| 221 |
+
-0.0027808289451058954,
|
| 222 |
+
-0.12668003584258258,
|
| 223 |
+
-0.00029340356559259817
|
| 224 |
+
],
|
| 225 |
+
"orientation": {
|
| 226 |
+
"w": 0.4836484013911713,
|
| 227 |
+
"xyz": [
|
| 228 |
+
-0.4971123670865625,
|
| 229 |
+
-0.5007835938194706,
|
| 230 |
+
-0.5178603194710087
|
| 231 |
+
]
|
| 232 |
+
}
|
| 233 |
+
},
|
| 234 |
+
"grasp_18": {
|
| 235 |
+
"confidence": 0.9463291764259338,
|
| 236 |
+
"position": [
|
| 237 |
+
-0.005469662690302357,
|
| 238 |
+
-0.12655631150119007,
|
| 239 |
+
-0.0022031549233361147
|
| 240 |
+
],
|
| 241 |
+
"orientation": {
|
| 242 |
+
"w": 0.5019097650124789,
|
| 243 |
+
"xyz": [
|
| 244 |
+
-0.47647959424348696,
|
| 245 |
+
0.5237584341384934,
|
| 246 |
+
0.4967201291708178
|
| 247 |
+
]
|
| 248 |
+
}
|
| 249 |
+
}
|
| 250 |
+
}
|
| 251 |
+
},
|
| 252 |
+
{
|
| 253 |
+
"part_name": "scissor half with smaller handle loop",
|
| 254 |
+
"mask_color": "Green",
|
| 255 |
+
"graspable": true,
|
| 256 |
+
"grasp_scenarios": [
|
| 257 |
+
{
|
| 258 |
+
"scenario": "grasp the smaller handle loop and adjacent shank to manipulate or reposition the scissors",
|
| 259 |
+
"confidence": 0.83
|
| 260 |
+
},
|
| 261 |
+
{
|
| 262 |
+
"scenario": "hold this half to control opening angle during robotic handling",
|
| 263 |
+
"confidence": 0.72
|
| 264 |
+
}
|
| 265 |
+
],
|
| 266 |
+
"functional_labels": [
|
| 267 |
+
"form the opposing moving half of the scissors",
|
| 268 |
+
"provide the second finger handle",
|
| 269 |
+
"carry the opposing cutting blade",
|
| 270 |
+
"rotate about the pivot to create shearing motion"
|
| 271 |
+
],
|
| 272 |
+
"semantic_description": "The other silver metal scissor half with a smooth slightly reflective finish, including a long tapered blade and a smaller rounder handle loop, connected through the center pivot.",
|
| 273 |
+
"id": 1,
|
| 274 |
+
"grasp_group": {
|
| 275 |
+
"grasp_22": {
|
| 276 |
+
"confidence": 0.9480966925621033,
|
| 277 |
+
"position": [
|
| 278 |
+
-0.008261929819127545,
|
| 279 |
+
-0.11872300948016346,
|
| 280 |
+
-0.0019321731160744093
|
| 281 |
+
],
|
| 282 |
+
"orientation": {
|
| 283 |
+
"w": 0.4171150234317681,
|
| 284 |
+
"xyz": [
|
| 285 |
+
-0.421402098725977,
|
| 286 |
+
-0.5606186221257606,
|
| 287 |
+
-0.5780502477662911
|
| 288 |
+
]
|
| 289 |
+
}
|
| 290 |
+
}
|
| 291 |
+
}
|
| 292 |
+
},
|
| 293 |
+
{
|
| 294 |
+
"part_name": "pivot fastener",
|
| 295 |
+
"mask_color": "Yellow",
|
| 296 |
+
"graspable": false,
|
| 297 |
+
"grasp_scenarios": [],
|
| 298 |
+
"functional_labels": [
|
| 299 |
+
"connect the two scissor halves",
|
| 300 |
+
"enable rotational motion",
|
| 301 |
+
"act as the cutting fulcrum",
|
| 302 |
+
"maintain blade alignment"
|
| 303 |
+
],
|
| 304 |
+
"semantic_description": "Small round brass-colored metal pivot fastener at the center of the scissors where the two silver halves cross and rotate.",
|
| 305 |
+
"id": 3,
|
| 306 |
+
"grasp_group": {}
|
| 307 |
+
},
|
| 308 |
+
{
|
| 309 |
+
"part_name": "pivot fastener",
|
| 310 |
+
"mask_color": "Blue",
|
| 311 |
+
"graspable": false,
|
| 312 |
+
"grasp_scenarios": [],
|
| 313 |
+
"functional_labels": [
|
| 314 |
+
"connect the two scissor halves",
|
| 315 |
+
"enable rotational motion",
|
| 316 |
+
"act as the cutting fulcrum",
|
| 317 |
+
"maintain blade alignment"
|
| 318 |
+
],
|
| 319 |
+
"semantic_description": "Small round brass-colored metal pivot fastener at the center of the scissors where the two silver halves cross and rotate.",
|
| 320 |
+
"id": 2,
|
| 321 |
+
"grasp_group": {}
|
| 322 |
+
}
|
| 323 |
+
],
|
| 324 |
+
"quality_check": {
|
| 325 |
+
"success": false,
|
| 326 |
+
"message": "Blue part is mislabeled duplicate pivot; mask colors for pivot differ across views and only one pivot exists."
|
| 327 |
+
}
|
| 328 |
+
}
|
dataset/desktop_supplies/office_tools/2d8127a1ec195c60b05f07481d145dc4/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b7b82cf43edd1c4748d0d24227f9fa477692c1681a37749c8d8760bc589f0d63
|
| 3 |
+
size 3782592
|
dataset/desktop_supplies/office_tools/2d8127a1ec195c60b05f07481d145dc4/scissor_001.urdf
CHANGED
|
@@ -52,6 +52,7 @@
|
|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
|
|
|
|
| 55 |
</affordance>
|
| 56 |
<quality>
|
| 57 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
|
| 55 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 56 |
</affordance>
|
| 57 |
<quality>
|
| 58 |
<PartSegChecker>YES</PartSegChecker>
|