Add asset desktop_supplies/office_tools/6eb2b1cab95a5157b0aee4e60b92af48
Browse files
.gitattributes
CHANGED
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@@ -6580,3 +6580,4 @@ dataset/desktop_supplies/office_tools/5db9954427f25c988d06796045db4782/affordanc
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| 6580 |
dataset/desktop_supplies/office_tools/635729653e465f2eb2892f17b6ce2b1e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6581 |
dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6582 |
dataset/desktop_supplies/office_tools/6793da611a6951589926b7815dd8285f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6580 |
dataset/desktop_supplies/office_tools/635729653e465f2eb2892f17b6ce2b1e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6581 |
dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6582 |
dataset/desktop_supplies/office_tools/6793da611a6951589926b7815dd8285f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6583 |
+
dataset/desktop_supplies/office_tools/6eb2b1cab95a5157b0aee4e60b92af48/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/6eb2b1cab95a5157b0aee4e60b92af48/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,504 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "scissor blade",
|
| 5 |
+
"mask_color": "Orange",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "pinch this blade near the pivot to stabilize the scissors during inspection or repositioning",
|
| 10 |
+
"confidence": 0.29
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "lightly grasp the blunt spine area of the blade when the handles are obstructed",
|
| 14 |
+
"confidence": 0.2
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"cut material",
|
| 19 |
+
"form one side of the shearing pair",
|
| 20 |
+
"align with the opposing blade",
|
| 21 |
+
"pierce thin material at the tip"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "One of the two long orange metal blades extending forward from the pivot, smooth and slightly reflective with a narrow tapered shape and pointed tip.",
|
| 24 |
+
"id": 4,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_48": {
|
| 27 |
+
"confidence": 0.8766948580741882,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.14954166486859322,
|
| 30 |
+
0.01170801802072674,
|
| 31 |
+
-0.004112494818400592
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.7137105118596663,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.05036875864614394,
|
| 37 |
+
0.6981927385629624,
|
| 38 |
+
-0.02464129118797027
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_54": {
|
| 43 |
+
"confidence": 0.5775054097175598,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.1414136178791523,
|
| 46 |
+
0.021263866336084902,
|
| 47 |
+
-0.006845766620244831
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.12949544454636172,
|
| 51 |
+
"xyz": [
|
| 52 |
+
0.6858602900815342,
|
| 53 |
+
-0.02040052041516316,
|
| 54 |
+
0.7158284788256228
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
}
|
| 58 |
+
}
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"part_name": "scissor blade",
|
| 62 |
+
"mask_color": "Green",
|
| 63 |
+
"graspable": true,
|
| 64 |
+
"grasp_scenarios": [
|
| 65 |
+
{
|
| 66 |
+
"scenario": "pinch this blade near the pivot to stabilize the scissors during inspection or repositioning",
|
| 67 |
+
"confidence": 0.29
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"scenario": "lightly grasp the blunt spine area of the blade when the handles are obstructed",
|
| 71 |
+
"confidence": 0.2
|
| 72 |
+
}
|
| 73 |
+
],
|
| 74 |
+
"functional_labels": [
|
| 75 |
+
"cut material",
|
| 76 |
+
"form one side of the shearing pair",
|
| 77 |
+
"align with the opposing blade",
|
| 78 |
+
"pierce thin material at the tip"
|
| 79 |
+
],
|
| 80 |
+
"semantic_description": "The matching orange metal blade on the opposite side, smooth and slightly reflective with a slim tapered form that overlaps the other blade at the pivot.",
|
| 81 |
+
"id": 1,
|
| 82 |
+
"grasp_group": {
|
| 83 |
+
"grasp_3": {
|
| 84 |
+
"confidence": 0.8290281891822815,
|
| 85 |
+
"position": [
|
| 86 |
+
-0.15374185517430305,
|
| 87 |
+
0.015090179280377924,
|
| 88 |
+
-0.008430202433373779
|
| 89 |
+
],
|
| 90 |
+
"orientation": {
|
| 91 |
+
"w": 0.40175630578806637,
|
| 92 |
+
"xyz": [
|
| 93 |
+
-0.5367422971532082,
|
| 94 |
+
0.4409511305974877,
|
| 95 |
+
-0.5967090393407996
|
| 96 |
+
]
|
| 97 |
+
}
|
| 98 |
+
},
|
| 99 |
+
"grasp_9": {
|
| 100 |
+
"confidence": 0.5609250068664551,
|
| 101 |
+
"position": [
|
| 102 |
+
-0.14338253811001778,
|
| 103 |
+
0.006687900167889893,
|
| 104 |
+
-0.008508222119417042
|
| 105 |
+
],
|
| 106 |
+
"orientation": {
|
| 107 |
+
"w": 0.11701791054170163,
|
| 108 |
+
"xyz": [
|
| 109 |
+
-0.6714433382679416,
|
| 110 |
+
0.0969152933303874,
|
| 111 |
+
-0.7253124002984794
|
| 112 |
+
]
|
| 113 |
+
}
|
| 114 |
+
},
|
| 115 |
+
"grasp_17": {
|
| 116 |
+
"confidence": 0.7732964158058167,
|
| 117 |
+
"position": [
|
| 118 |
+
-0.14641578868031502,
|
| 119 |
+
0.0076253615552559495,
|
| 120 |
+
-0.004470979270990938
|
| 121 |
+
],
|
| 122 |
+
"orientation": {
|
| 123 |
+
"w": 0.11835359955217493,
|
| 124 |
+
"xyz": [
|
| 125 |
+
-0.6702651044236011,
|
| 126 |
+
0.12116724482733332,
|
| 127 |
+
-0.7225341611619589
|
| 128 |
+
]
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
}
|
| 132 |
+
},
|
| 133 |
+
{
|
| 134 |
+
"part_name": "finger loop handle",
|
| 135 |
+
"mask_color": "Magenta",
|
| 136 |
+
"graspable": true,
|
| 137 |
+
"grasp_scenarios": [
|
| 138 |
+
{
|
| 139 |
+
"scenario": "grasp the larger looped handle area to pick up the scissors safely",
|
| 140 |
+
"confidence": 0.89
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"scenario": "hold this handle to orient the scissors for use or handoff",
|
| 144 |
+
"confidence": 0.85
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"scenario": "stabilize the scissors by clamping across the loop and nearby shank",
|
| 148 |
+
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{
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{
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{
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"help orient the tool"
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],
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"semantic_description": "The second black handle loop with a light gray inner lining, smooth and slightly glossy, oval and slightly smaller, positioned opposite the larger loop behind the pivot.",
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},
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{
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| 340 |
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"join the two halves",
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"provide the rotation axis",
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"maintain blade alignment"
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| 344 |
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],
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"semantic_description": "A small round silver or off-white rivet at the center joint, smooth and slightly reflective, connecting the blades and handles.",
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{
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"part_name": "handle stop tab",
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"reduce overclosure at rest"
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| 358 |
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],
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"semantic_description": "A tiny red rectangular tab between the handle shanks near the pivot, small, smooth, and spacer-like.",
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},
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{
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"part_name": "shank near pivot",
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| 365 |
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| 366 |
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| 367 |
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{
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| 369 |
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"scenario": "lightly pinch the narrow shank near the pivot for short-term stabilization during inspection",
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| 370 |
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| 371 |
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},
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{
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"scenario": "use this area as a secondary contact point while another gripper holds a handle loop",
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| 375 |
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}
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],
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"connect the handle loop to the blade",
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"support the structure around the pivot"
|
| 381 |
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],
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| 382 |
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"semantic_description": "A small orange section of the scissor body beside the pivot where the blade transitions into the handle, narrow, smooth, and slightly reflective.",
|
| 383 |
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| 483 |
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| 498 |
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|
| 499 |
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],
|
| 500 |
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"quality_check": {
|
| 501 |
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"success": false,
|
| 502 |
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"message": "Several mask colors and part descriptions mismatch the segmented parts, especially red and blue; blade color descriptions also confuse real RGB with mask colors."
|
| 503 |
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}
|
| 504 |
+
}
|
dataset/desktop_supplies/office_tools/6eb2b1cab95a5157b0aee4e60b92af48/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 sha256:0b4f200f512f4b84b297a36556c36f08766aea4ec583baa68c86c892943b5a13
|
| 3 |
+
size 3785148
|