Add asset desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617
Browse files- .gitattributes +2 -1
- dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/affordance/affordance_annot.json +404 -0
- dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/cutter_knife_028.urdf +1 -0
.gitattributes
CHANGED
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@@ -6678,4 +6678,5 @@ dataset/desktop_supplies/office_tools/e153444686e85d3db03e23118796ee11/affordanc
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| 6678 |
dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6679 |
dataset/desktop_supplies/office_tools/e9d70d5a9f375ed1b4f2406385909a95/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6680 |
dataset/desktop_supplies/office_tools/ec3412f7079452428adb418435a76e11/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6681 |
-
dataset/desktop_supplies/office_tools/
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| 6678 |
dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6679 |
dataset/desktop_supplies/office_tools/e9d70d5a9f375ed1b4f2406385909a95/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6680 |
dataset/desktop_supplies/office_tools/ec3412f7079452428adb418435a76e11/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6681 |
+
dataset/desktop_supplies/office_tools/ed1c4abcb6bf5d59a4aed549b4dd6a13/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6682 |
+
dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,404 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "handle of knife",
|
| 5 |
+
"mask_color": "Orange",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle to pick up and use the cutter knife",
|
| 10 |
+
"confidence": 0.98
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle to guide a cutting motion",
|
| 14 |
+
"confidence": 0.97
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the handle to stabilize the knife while adjusting the blade slider",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grip surface",
|
| 23 |
+
"support cutting manipulation",
|
| 24 |
+
"house the blade mechanism",
|
| 25 |
+
"protect hand from blade body"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large elongated blue-and-white plastic handle with a mostly matte hard surface, ribbed side texture, and a slim slightly curved rectangular form running the full body of the knife.",
|
| 28 |
+
"id": 4,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_13": {
|
| 31 |
+
"confidence": 0.9089285731315613,
|
| 32 |
+
"position": [
|
| 33 |
+
0.09579846358974464,
|
| 34 |
+
-0.04286611033603549,
|
| 35 |
+
0.013708407677768264
|
| 36 |
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],
|
| 37 |
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"orientation": {
|
| 38 |
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"w": 0.6412853412111825,
|
| 39 |
+
"xyz": [
|
| 40 |
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-0.03853952684332218,
|
| 41 |
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-0.7637473775736261,
|
| 42 |
+
-0.062910724584601
|
| 43 |
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]
|
| 44 |
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}
|
| 45 |
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},
|
| 46 |
+
"grasp_16": {
|
| 47 |
+
"confidence": 0.8907497525215149,
|
| 48 |
+
"position": [
|
| 49 |
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-0.00986868140171282,
|
| 50 |
+
-0.11852198792621493,
|
| 51 |
+
-0.006205538600625005
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
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"w": 0.5394363536115847,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.4993088912693022,
|
| 57 |
+
0.4877324774293831,
|
| 58 |
+
0.4709735469877835
|
| 59 |
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]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_17": {
|
| 63 |
+
"confidence": 0.8753740787506104,
|
| 64 |
+
"position": [
|
| 65 |
+
0.031031192309455946,
|
| 66 |
+
-0.11129071516916156,
|
| 67 |
+
0.00993549885606626
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.5254591166322141,
|
| 71 |
+
"xyz": [
|
| 72 |
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-0.38378924823696725,
|
| 73 |
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-0.6329695752675002,
|
| 74 |
+
-0.41946161501557816
|
| 75 |
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]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_18": {
|
| 79 |
+
"confidence": 0.866650402545929,
|
| 80 |
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"position": [
|
| 81 |
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-0.06943557315389626,
|
| 82 |
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-0.09629446966573596,
|
| 83 |
+
-0.008245259836257901
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.25017890352226296,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.610417880398051,
|
| 89 |
+
-0.30566778067889344,
|
| 90 |
+
-0.6865622589230992
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_21": {
|
| 95 |
+
"confidence": 0.8527222275733948,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.05109637134592049,
|
| 98 |
+
-0.11152200354263186,
|
| 99 |
+
-0.009259178616048303
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.6514738756645915,
|
| 103 |
+
"xyz": [
|
| 104 |
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-0.3735452952912037,
|
| 105 |
+
0.5721088456645524,
|
| 106 |
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0.32975319620094184
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_28": {
|
| 111 |
+
"confidence": 0.7985636591911316,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.07173681908170693,
|
| 114 |
+
-0.0798010597936809,
|
| 115 |
+
0.04228006830817321
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.22786060361307336,
|
| 119 |
+
"xyz": [
|
| 120 |
+
-0.8310003888971904,
|
| 121 |
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-0.15602966034794796,
|
| 122 |
+
-0.48287953369915
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
}
|
| 126 |
+
}
|
| 127 |
+
},
|
| 128 |
+
{
|
| 129 |
+
"part_name": "blade of knife",
|
| 130 |
+
"mask_color": "Purple",
|
| 131 |
+
"graspable": false,
|
| 132 |
+
"grasp_scenarios": [],
|
| 133 |
+
"functional_labels": [
|
| 134 |
+
"cut materials",
|
| 135 |
+
"score surfaces",
|
| 136 |
+
"provide sharp working edge",
|
| 137 |
+
"extend from handle for use"
|
| 138 |
+
],
|
| 139 |
+
"semantic_description": "Thin silver metal blade with a reflective smooth finish and segmented snap-off markings, protruding from the front as a narrow flat rectangular strip.",
|
| 140 |
+
"id": 5,
|
| 141 |
+
"grasp_group": {}
|
| 142 |
+
},
|
| 143 |
+
{
|
| 144 |
+
"part_name": "thumb slider",
|
| 145 |
+
"mask_color": "Yellow",
|
| 146 |
+
"graspable": true,
|
| 147 |
+
"grasp_scenarios": [
|
| 148 |
+
{
|
| 149 |
+
"scenario": "pinch the slider to extend or retract the blade",
|
| 150 |
+
"confidence": 0.83
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"scenario": "hold the slider briefly to lock blade position during adjustment",
|
| 154 |
+
"confidence": 0.71
|
| 155 |
+
}
|
| 156 |
+
],
|
| 157 |
+
"functional_labels": [
|
| 158 |
+
"extend blade",
|
| 159 |
+
"retract blade",
|
| 160 |
+
"adjust blade length",
|
| 161 |
+
"lock cutting position"
|
| 162 |
+
],
|
| 163 |
+
"semantic_description": "Small black ridged plastic slider on the top center of the handle, with a matte hard surface and short raised rectangular shape for thumb traction.",
|
| 164 |
+
"id": 3,
|
| 165 |
+
"grasp_group": {
|
| 166 |
+
"grasp_0": {
|
| 167 |
+
"confidence": 0.8532230854034424,
|
| 168 |
+
"position": [
|
| 169 |
+
-0.022434965678257868,
|
| 170 |
+
-0.0901290918700397,
|
| 171 |
+
0.057715953946171794
|
| 172 |
+
],
|
| 173 |
+
"orientation": {
|
| 174 |
+
"w": 0.45235465447490636,
|
| 175 |
+
"xyz": [
|
| 176 |
+
-0.8771637578653703,
|
| 177 |
+
-0.03803258145830035,
|
| 178 |
+
-0.1565647827897704
|
| 179 |
+
]
|
| 180 |
+
}
|
| 181 |
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],
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"semantic_description": "Small dark end cap at the rear of the handle, likely plastic, with a matte hard finish and rounded wedge-like shape adjoining the lanyard ring.",
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{
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"provide rear attachment point"
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],
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"semantic_description": "Small silver metal loop at the back end of the knife, with a smooth reflective finish and thin circular wire form protruding slightly from the handle.",
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"id": 7,
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}
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},
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{
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"part_name": "blade guide rail",
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| 386 |
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"guide blade travel",
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"support slider mechanism",
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"align blade path",
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"reinforce top body"
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],
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"semantic_description": "Narrow silver metal track inset along the top of the handle, with a smooth reflective finish and long straight strip shape surrounding the slider path.",
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| 396 |
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"id": 0,
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],
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"quality_check": {
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| 401 |
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"success": true,
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"message": "YES"
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}
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| 404 |
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}
|
dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 3 |
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size 3785060
|
dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/cutter_knife_028.urdf
CHANGED
|
@@ -57,6 +57,7 @@
|
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
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|
|
|
| 60 |
</affordance>
|
| 61 |
<quality>
|
| 62 |
<PartSegChecker>YES</PartSegChecker>
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|
|
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
| 60 |
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
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