Add asset desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a
Browse files
.gitattributes
CHANGED
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@@ -6632,4 +6632,4 @@ dataset/desktop_supplies/office_tools/a90261fd9d9850b9b2ae9390b1e6af5d/affordanc
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| 6632 |
dataset/desktop_supplies/office_tools/ab2056d72a145605bb59153ae4dae0a2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6633 |
dataset/desktop_supplies/office_tools/abeac151f86b57a88c03b97196495670/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6634 |
dataset/desktop_supplies/office_tools/ac403a08cf5f547295d2c32246594264/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6635 |
-
dataset/desktop_supplies/office_tools/
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| 6632 |
dataset/desktop_supplies/office_tools/ab2056d72a145605bb59153ae4dae0a2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6633 |
dataset/desktop_supplies/office_tools/abeac151f86b57a88c03b97196495670/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6634 |
dataset/desktop_supplies/office_tools/ac403a08cf5f547295d2c32246594264/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6635 |
+
dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,424 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "smaller handle loop",
|
| 5 |
+
"mask_color": "Orange",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the smaller handle loop to pick up or reposition the scissors",
|
| 10 |
+
"confidence": 0.77
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold this loop to stabilize the scissors while aligning the blades",
|
| 14 |
+
"confidence": 0.66
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"provide finger insertion",
|
| 19 |
+
"support gripping the tool",
|
| 20 |
+
"help open and close the blades",
|
| 21 |
+
"stabilize one handle side"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "A smaller coral-pink plastic loop handle with a smooth slightly glossy hard surface and rounded oval shape, located at one rear side of the scissors and connected to one blade through the handle stem.",
|
| 24 |
+
"id": 4,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_40": {
|
| 27 |
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"confidence": 0.9655798077583313,
|
| 28 |
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"position": [
|
| 29 |
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|
| 30 |
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-0.007400886373943649,
|
| 31 |
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-0.00020001303710159846
|
| 32 |
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],
|
| 33 |
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"orientation": {
|
| 34 |
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"w": 0.014135440928739158,
|
| 35 |
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"xyz": [
|
| 36 |
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-0.703815973563161,
|
| 37 |
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0.016721388981075558,
|
| 38 |
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0.7100448294422217
|
| 39 |
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]
|
| 40 |
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}
|
| 41 |
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},
|
| 42 |
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"grasp_42": {
|
| 43 |
+
"confidence": 0.9603872299194336,
|
| 44 |
+
"position": [
|
| 45 |
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0.10701198573224247,
|
| 46 |
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0.0014050362078705803,
|
| 47 |
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0.00031260620380635373
|
| 48 |
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],
|
| 49 |
+
"orientation": {
|
| 50 |
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"w": 0.7036859111219336,
|
| 51 |
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"xyz": [
|
| 52 |
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0.0025165511684121693,
|
| 53 |
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-0.7101186642100138,
|
| 54 |
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|
| 55 |
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]
|
| 56 |
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}
|
| 57 |
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},
|
| 58 |
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"grasp_49": {
|
| 59 |
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"confidence": 0.9190830588340759,
|
| 60 |
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"position": [
|
| 61 |
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0.03432716499082744,
|
| 62 |
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-0.0993615339830285,
|
| 63 |
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0.0036675002593256067
|
| 64 |
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],
|
| 65 |
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"orientation": {
|
| 66 |
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"w": 0.3910323547755985,
|
| 67 |
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"xyz": [
|
| 68 |
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-0.5983309030895965,
|
| 69 |
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0.39537371401742305,
|
| 70 |
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0.5768651958566291
|
| 71 |
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]
|
| 72 |
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}
|
| 73 |
+
}
|
| 74 |
+
}
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"part_name": "larger handle loop",
|
| 78 |
+
"mask_color": "Purple",
|
| 79 |
+
"graspable": true,
|
| 80 |
+
"grasp_scenarios": [
|
| 81 |
+
{
|
| 82 |
+
"scenario": "grasp the larger handle loop to pick up and orient the scissors",
|
| 83 |
+
"confidence": 0.82
|
| 84 |
+
},
|
| 85 |
+
{
|
| 86 |
+
"scenario": "hold this loop to stabilize the scissors during placement or handoff",
|
| 87 |
+
"confidence": 0.72
|
| 88 |
+
}
|
| 89 |
+
],
|
| 90 |
+
"functional_labels": [
|
| 91 |
+
"provide finger insertion",
|
| 92 |
+
"support gripping the tool",
|
| 93 |
+
"help open and close the blades",
|
| 94 |
+
"stabilize one handle side"
|
| 95 |
+
],
|
| 96 |
+
"semantic_description": "A larger coral-pink plastic loop handle with a smooth slightly glossy hard surface and rounded oval shape, positioned on the opposite rear side and connected toward the pivot.",
|
| 97 |
+
"id": 5,
|
| 98 |
+
"grasp_group": {
|
| 99 |
+
"grasp_60": {
|
| 100 |
+
"confidence": 0.9654422402381897,
|
| 101 |
+
"position": [
|
| 102 |
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0.10246587241999805,
|
| 103 |
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0.028533374206745066,
|
| 104 |
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0.010024651110143168
|
| 105 |
+
],
|
| 106 |
+
"orientation": {
|
| 107 |
+
"w": 0.6772531746232693,
|
| 108 |
+
"xyz": [
|
| 109 |
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0.06720125895349029,
|
| 110 |
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-0.7245016032060929,
|
| 111 |
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0.10913090858950496
|
| 112 |
+
]
|
| 113 |
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}
|
| 114 |
+
},
|
| 115 |
+
"grasp_69": {
|
| 116 |
+
"confidence": 0.9456346035003662,
|
| 117 |
+
"position": [
|
| 118 |
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0.10026427800767124,
|
| 119 |
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0.012002970339381136,
|
| 120 |
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-0.0059237725399725605
|
| 121 |
+
],
|
| 122 |
+
"orientation": {
|
| 123 |
+
"w": 0.06315634494832022,
|
| 124 |
+
"xyz": [
|
| 125 |
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0.6990899948963035,
|
| 126 |
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0.010466624069106034,
|
| 127 |
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-0.7121621338636662
|
| 128 |
+
]
|
| 129 |
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}
|
| 130 |
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},
|
| 131 |
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"grasp_70": {
|
| 132 |
+
"confidence": 0.9456040859222412,
|
| 133 |
+
"position": [
|
| 134 |
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0.03361819754354656,
|
| 135 |
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0.1008214478060836,
|
| 136 |
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-0.002582563629403012
|
| 137 |
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],
|
| 138 |
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"orientation": {
|
| 139 |
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"w": 0.41004251025377886,
|
| 140 |
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"xyz": [
|
| 141 |
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0.5840459168119788,
|
| 142 |
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0.38284738910913674,
|
| 143 |
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-0.5866714442448621
|
| 144 |
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]
|
| 145 |
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}
|
| 146 |
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},
|
| 147 |
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"grasp_71": {
|
| 148 |
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"confidence": 0.9413338303565979,
|
| 149 |
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"position": [
|
| 150 |
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0.09933522040955722,
|
| 151 |
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0.011668035076581873,
|
| 152 |
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-0.007022163674264448
|
| 153 |
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],
|
| 154 |
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"orientation": {
|
| 155 |
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"w": 0.041863790810303475,
|
| 156 |
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"xyz": [
|
| 157 |
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0.693587990329385,
|
| 158 |
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0.027770150229055268,
|
| 159 |
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-0.7186180775948322
|
| 160 |
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]
|
| 161 |
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}
|
| 162 |
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},
|
| 163 |
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"grasp_73": {
|
| 164 |
+
"confidence": 0.9177459478378296,
|
| 165 |
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"position": [
|
| 166 |
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0.03192373435012996,
|
| 167 |
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0.10183121009322349,
|
| 168 |
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0.021876541122765047
|
| 169 |
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],
|
| 170 |
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"orientation": {
|
| 171 |
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"w": 0.44664954676858765,
|
| 172 |
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"xyz": [
|
| 173 |
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0.3090887885933971,
|
| 174 |
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|
| 175 |
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|
| 176 |
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]
|
| 177 |
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}
|
| 178 |
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}
|
| 179 |
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}
|
| 180 |
+
},
|
| 181 |
+
{
|
| 182 |
+
"part_name": "pivot fastener",
|
| 183 |
+
"mask_color": "Yellow",
|
| 184 |
+
"graspable": false,
|
| 185 |
+
"grasp_scenarios": [],
|
| 186 |
+
"functional_labels": [
|
| 187 |
+
"join the two scissor halves",
|
| 188 |
+
"provide rotation axis",
|
| 189 |
+
"maintain blade alignment"
|
| 190 |
+
],
|
| 191 |
+
"semantic_description": "A small round yellow central fastener with a smooth satin finish at the pivot joint where the two blades rotate against each other.",
|
| 192 |
+
"id": 3,
|
| 193 |
+
"grasp_group": {}
|
| 194 |
+
},
|
| 195 |
+
{
|
| 196 |
+
"part_name": "blue blade",
|
| 197 |
+
"mask_color": "Green",
|
| 198 |
+
"graspable": true,
|
| 199 |
+
"grasp_scenarios": [
|
| 200 |
+
{
|
| 201 |
+
"scenario": "carefully pinch the closed blade near the blunt side to reposition the scissors during setup",
|
| 202 |
+
"confidence": 0.28
|
| 203 |
+
},
|
| 204 |
+
{
|
| 205 |
+
"scenario": "hold the blade body lightly for inspection or maintenance when the tool is secured",
|
| 206 |
+
"confidence": 0.22
|
| 207 |
+
}
|
| 208 |
+
],
|
| 209 |
+
"functional_labels": [
|
| 210 |
+
"cut material",
|
| 211 |
+
"provide one shearing surface",
|
| 212 |
+
"guide cutting direction",
|
| 213 |
+
"form one half of the cutting pair"
|
| 214 |
+
],
|
| 215 |
+
"semantic_description": "A short steel blade with a light blue painted outer face and visible silver cutting edge, smooth hard slightly reflective surface, and tapered triangular shape extending forward from the pivot.",
|
| 216 |
+
"id": 1,
|
| 217 |
+
"grasp_group": {
|
| 218 |
+
"grasp_18": {
|
| 219 |
+
"confidence": 0.839968204498291,
|
| 220 |
+
"position": [
|
| 221 |
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-0.1231797665823251,
|
| 222 |
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-0.020191549076116644,
|
| 223 |
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-0.0011992388936050702
|
| 224 |
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],
|
| 225 |
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"orientation": {
|
| 226 |
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"w": 0.7057950888762903,
|
| 227 |
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"xyz": [
|
| 228 |
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-0.05887765564634445,
|
| 229 |
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0.7054076297722514,
|
| 230 |
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0.028049777945543402
|
| 231 |
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]
|
| 232 |
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}
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
},
|
| 236 |
+
{
|
| 237 |
+
"part_name": "gray blade",
|
| 238 |
+
"mask_color": "Blue",
|
| 239 |
+
"graspable": true,
|
| 240 |
+
"grasp_scenarios": [
|
| 241 |
+
{
|
| 242 |
+
"scenario": "carefully pinch the closed blade near the blunt side to reposition the scissors during setup",
|
| 243 |
+
"confidence": 0.27
|
| 244 |
+
},
|
| 245 |
+
{
|
| 246 |
+
"scenario": "hold the blade body lightly for inspection or maintenance when the tool is secured",
|
| 247 |
+
"confidence": 0.21
|
| 248 |
+
}
|
| 249 |
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],
|
| 250 |
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"functional_labels": [
|
| 251 |
+
"cut material",
|
| 252 |
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"provide one shearing surface",
|
| 253 |
+
"guide cutting direction",
|
| 254 |
+
"form one half of the cutting pair"
|
| 255 |
+
],
|
| 256 |
+
"semantic_description": "A short steel blade with a dark gray to silver reflective finish, smooth hard surface, and tapered triangular form, positioned opposite the blue blade to create the cutting action.",
|
| 257 |
+
"id": 2,
|
| 258 |
+
"grasp_group": {
|
| 259 |
+
"grasp_22": {
|
| 260 |
+
"confidence": 0.8738591074943542,
|
| 261 |
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"position": [
|
| 262 |
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-0.1288884982932359,
|
| 263 |
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-0.010801646611071192,
|
| 264 |
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0.00047421200360986404
|
| 265 |
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],
|
| 266 |
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"orientation": {
|
| 267 |
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"w": 0.699032806904854,
|
| 268 |
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"xyz": [
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| 269 |
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|
| 270 |
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|
| 271 |
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|
| 272 |
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]
|
| 273 |
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}
|
| 274 |
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},
|
| 275 |
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"grasp_23": {
|
| 276 |
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"confidence": 0.8588594198226929,
|
| 277 |
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"position": [
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| 278 |
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|
| 279 |
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|
| 280 |
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|
| 281 |
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],
|
| 282 |
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"orientation": {
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| 283 |
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|
| 284 |
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| 285 |
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|
| 286 |
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|
| 287 |
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|
| 288 |
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]
|
| 289 |
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}
|
| 290 |
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},
|
| 291 |
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"grasp_24": {
|
| 292 |
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"confidence": 0.8482669591903687,
|
| 293 |
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| 294 |
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|
| 295 |
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|
| 296 |
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-0.0012604465773620177
|
| 297 |
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],
|
| 298 |
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|
| 299 |
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|
| 300 |
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| 301 |
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| 302 |
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| 303 |
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0.030095843206299946
|
| 304 |
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]
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| 305 |
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}
|
| 306 |
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},
|
| 307 |
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"grasp_27": {
|
| 308 |
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"confidence": 0.6835182309150696,
|
| 309 |
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"position": [
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| 310 |
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|
| 311 |
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|
| 312 |
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-0.006143788650661008
|
| 313 |
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],
|
| 314 |
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"orientation": {
|
| 315 |
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"w": 0.7244414096687639,
|
| 316 |
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"xyz": [
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| 317 |
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|
| 318 |
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0.6882403730227079,
|
| 319 |
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0.0018411235378284982
|
| 320 |
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]
|
| 321 |
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}
|
| 322 |
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},
|
| 323 |
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"grasp_30": {
|
| 324 |
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"confidence": 0.8892349004745483,
|
| 325 |
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"position": [
|
| 326 |
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-0.1190564886201173,
|
| 327 |
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0.04408182321640197,
|
| 328 |
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-0.0020690449346147943
|
| 329 |
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],
|
| 330 |
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"orientation": {
|
| 331 |
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"w": 0.6892826692003395,
|
| 332 |
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"xyz": [
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| 333 |
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|
| 334 |
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0.6880586104938695,
|
| 335 |
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|
| 336 |
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]
|
| 337 |
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}
|
| 338 |
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},
|
| 339 |
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"grasp_34": {
|
| 340 |
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"confidence": 0.8807912468910217,
|
| 341 |
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"position": [
|
| 342 |
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-0.1220837861765176,
|
| 343 |
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0.0405286301538581,
|
| 344 |
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-0.003416958341404097
|
| 345 |
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],
|
| 346 |
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"orientation": {
|
| 347 |
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"w": 0.6924223473305302,
|
| 348 |
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"xyz": [
|
| 349 |
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0.14741010577415598,
|
| 350 |
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0.6885401028131044,
|
| 351 |
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-0.15727072343907744
|
| 352 |
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]
|
| 353 |
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}
|
| 354 |
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},
|
| 355 |
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"grasp_35": {
|
| 356 |
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"confidence": 0.8757395148277283,
|
| 357 |
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"position": [
|
| 358 |
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-0.1284200504887849,
|
| 359 |
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-0.008307232274091803,
|
| 360 |
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-7.441387060680427e-05
|
| 361 |
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],
|
| 362 |
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"orientation": {
|
| 363 |
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"w": 0.702509247426036,
|
| 364 |
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"xyz": [
|
| 365 |
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-0.03624643413700023,
|
| 366 |
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0.7100251994634521,
|
| 367 |
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0.03211182679545842
|
| 368 |
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]
|
| 369 |
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}
|
| 370 |
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},
|
| 371 |
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"grasp_36": {
|
| 372 |
+
"confidence": 0.87186598777771,
|
| 373 |
+
"position": [
|
| 374 |
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-0.12161379610188305,
|
| 375 |
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0.04446401937457267,
|
| 376 |
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-0.00293973934094538
|
| 377 |
+
],
|
| 378 |
+
"orientation": {
|
| 379 |
+
"w": 0.6920869597006157,
|
| 380 |
+
"xyz": [
|
| 381 |
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0.16168403897989087,
|
| 382 |
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0.686366924789012,
|
| 383 |
+
-0.15418935211999096
|
| 384 |
+
]
|
| 385 |
+
}
|
| 386 |
+
},
|
| 387 |
+
"grasp_39": {
|
| 388 |
+
"confidence": 0.79206782579422,
|
| 389 |
+
"position": [
|
| 390 |
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-0.13569251750595868,
|
| 391 |
+
-0.011677817194140516,
|
| 392 |
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0.0005030457796237897
|
| 393 |
+
],
|
| 394 |
+
"orientation": {
|
| 395 |
+
"w": 0.04931804062384567,
|
| 396 |
+
"xyz": [
|
| 397 |
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-0.7069109279624834,
|
| 398 |
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-0.03928567336731925,
|
| 399 |
+
-0.7044865553467441
|
| 400 |
+
]
|
| 401 |
+
}
|
| 402 |
+
}
|
| 403 |
+
}
|
| 404 |
+
},
|
| 405 |
+
{
|
| 406 |
+
"part_name": "central handle spacer",
|
| 407 |
+
"mask_color": "Red",
|
| 408 |
+
"graspable": false,
|
| 409 |
+
"grasp_scenarios": [],
|
| 410 |
+
"functional_labels": [
|
| 411 |
+
"separate the handle stems",
|
| 412 |
+
"reinforce the central plastic structure near the handles",
|
| 413 |
+
"support the handle assembly"
|
| 414 |
+
],
|
| 415 |
+
"semantic_description": "A small coral-pink plastic spacer-like piece between the handle stems below the pivot region, with a smooth slightly glossy hard surface and compact shape.",
|
| 416 |
+
"id": 0,
|
| 417 |
+
"grasp_group": {}
|
| 418 |
+
}
|
| 419 |
+
],
|
| 420 |
+
"quality_check": {
|
| 421 |
+
"success": false,
|
| 422 |
+
"message": "Pivot mask color wrong; blade color/identity descriptions swapped; spacer part function/name uncertain."
|
| 423 |
+
}
|
| 424 |
+
}
|
dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7b596feea5893f1c7b913627e62894d6d3a9a566f3542c099298c72e5f3c207c
|
| 3 |
+
size 3783560
|