Add asset desktop_supplies/office_tools/44e49b35fadf5945891867fa30af7091
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_tools/44e49b35fadf5945891867fa30af7091/affordance/affordance_annot.json +353 -0
- dataset/desktop_supplies/office_tools/44e49b35fadf5945891867fa30af7091/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_tools/44e49b35fadf5945891867fa30af7091/cutter_knife_004.urdf +1 -0
.gitattributes
CHANGED
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@@ -6562,3 +6562,4 @@ dataset/desktop_supplies/office_tools/3e5f25297f4a5a4280426d3c6d583ae4/affordanc
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| 6562 |
dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6563 |
dataset/desktop_supplies/office_tools/3f6eaa82eaeb512c86b1b59edb1f50fc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6564 |
dataset/desktop_supplies/office_tools/41d0fdcf14c0565bb2d5ca3bfefefd2e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6562 |
dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6563 |
dataset/desktop_supplies/office_tools/3f6eaa82eaeb512c86b1b59edb1f50fc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6564 |
dataset/desktop_supplies/office_tools/41d0fdcf14c0565bb2d5ca3bfefefd2e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6565 |
+
dataset/desktop_supplies/office_tools/44e49b35fadf5945891867fa30af7091/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/44e49b35fadf5945891867fa30af7091/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,353 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "knife handle body",
|
| 5 |
+
"mask_color": "Orange",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle body to pick up and hold the utility knife",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle body to guide cutting motions",
|
| 14 |
+
"confidence": 0.96
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the handle body to stabilize the tool while operating the slider",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grip surface",
|
| 23 |
+
"house internal blade mechanism",
|
| 24 |
+
"support cutting control",
|
| 25 |
+
"provide safe hand placement away from blade"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Long orange handle body with a smooth plastic-looking finish, slim rectangular form with rounded edges, and a ring-shaped loop at the rear; it makes up most of the knife body.",
|
| 28 |
+
"id": 4,
|
| 29 |
+
"grasp_group": {
|
| 30 |
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"grasp_0": {
|
| 31 |
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"confidence": 0.992973804473877,
|
| 32 |
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"position": [
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| 33 |
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| 34 |
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| 35 |
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|
| 36 |
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],
|
| 37 |
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"orientation": {
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| 38 |
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"w": 0.7116715822463754,
|
| 39 |
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"xyz": [
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| 40 |
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| 41 |
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| 42 |
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| 43 |
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]
|
| 44 |
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}
|
| 45 |
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},
|
| 46 |
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"grasp_1": {
|
| 47 |
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"confidence": 0.9928971529006958,
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| 48 |
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"position": [
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| 50 |
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| 51 |
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],
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| 59 |
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}
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| 61 |
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},
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"grasp_3": {
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| 63 |
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"confidence": 0.9925739765167236,
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"position": [
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"orientation": {
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},
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"grasp_4": {
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| 79 |
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"confidence": 0.9925544857978821,
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"position": [
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| 91 |
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]
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| 92 |
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}
|
| 93 |
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},
|
| 94 |
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"grasp_5": {
|
| 95 |
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"confidence": 0.9925357103347778,
|
| 96 |
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"position": [
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|
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| 100 |
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],
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"orientation": {
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"w": 0.7076516055232962,
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"xyz": [
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"grasp_6": {
|
| 111 |
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"confidence": 0.9925010800361633,
|
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"position": [
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],
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},
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"grasp_10": {
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"confidence": 0.9920710921287537,
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"confidence": 0.9920340180397034,
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"grasp_13": {
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| 209 |
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0.008763653691858053,
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| 210 |
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-0.016346245247405022,
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| 211 |
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-0.09579213097458705
|
| 212 |
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],
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| 213 |
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"orientation": {
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| 214 |
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"w": 0.7139801065922117,
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| 215 |
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"xyz": [
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| 216 |
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-0.013306878879536506,
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| 218 |
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-0.693887882092236
|
| 219 |
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]
|
| 220 |
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}
|
| 221 |
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},
|
| 222 |
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"grasp_16": {
|
| 223 |
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"confidence": 0.9917594790458679,
|
| 224 |
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"position": [
|
| 225 |
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0.0312465145252645,
|
| 226 |
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-0.018721864733379334,
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| 227 |
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-0.09562981262570247
|
| 228 |
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],
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| 229 |
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"orientation": {
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| 230 |
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"w": 0.710210654086849,
|
| 231 |
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"xyz": [
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| 232 |
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| 234 |
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| 235 |
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]
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| 236 |
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}
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| 237 |
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},
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| 238 |
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"grasp_17": {
|
| 239 |
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"confidence": 0.9916719794273376,
|
| 240 |
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| 241 |
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| 242 |
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| 243 |
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-0.09866292908554897
|
| 244 |
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],
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| 245 |
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"orientation": {
|
| 246 |
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"w": 0.7086057265777937,
|
| 247 |
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"xyz": [
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| 248 |
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-0.004032334022706499,
|
| 249 |
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0.05023762514605146,
|
| 250 |
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0.7038024194070173
|
| 251 |
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]
|
| 252 |
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}
|
| 253 |
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},
|
| 254 |
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"grasp_18": {
|
| 255 |
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"confidence": 0.9914804697036743,
|
| 256 |
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"position": [
|
| 257 |
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0.029123918619006872,
|
| 258 |
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-0.008821996103506535,
|
| 259 |
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-0.09801522776251659
|
| 260 |
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],
|
| 261 |
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"orientation": {
|
| 262 |
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"w": 0.7209589217194545,
|
| 263 |
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"xyz": [
|
| 264 |
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0.029680771417904397,
|
| 265 |
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-0.10270813139292911,
|
| 266 |
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-0.6846811847472755
|
| 267 |
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]
|
| 268 |
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}
|
| 269 |
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},
|
| 270 |
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"grasp_19": {
|
| 271 |
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"confidence": 0.9912876486778259,
|
| 272 |
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"position": [
|
| 273 |
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|
| 274 |
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-0.00802958308486268,
|
| 275 |
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0.09593169257277623
|
| 276 |
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],
|
| 277 |
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"orientation": {
|
| 278 |
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"w": 0.05168109702815333,
|
| 279 |
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"xyz": [
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| 280 |
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-0.6838741830878341,
|
| 281 |
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|
| 282 |
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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 |
+
},
|
| 288 |
+
{
|
| 289 |
+
"part_name": "slider button",
|
| 290 |
+
"mask_color": "Green",
|
| 291 |
+
"graspable": false,
|
| 292 |
+
"grasp_scenarios": [],
|
| 293 |
+
"functional_labels": [
|
| 294 |
+
"extend blade",
|
| 295 |
+
"retract blade",
|
| 296 |
+
"adjust blade position",
|
| 297 |
+
"control cutting readiness"
|
| 298 |
+
],
|
| 299 |
+
"semantic_description": "Long narrow greenish-gray slider tab with a slightly raised smooth surface, seated in a slot along the top face of the handle.",
|
| 300 |
+
"id": 1,
|
| 301 |
+
"grasp_group": {}
|
| 302 |
+
},
|
| 303 |
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{
|
| 304 |
+
"part_name": "front nose / blade carrier",
|
| 305 |
+
"mask_color": "Yellow",
|
| 306 |
+
"graspable": false,
|
| 307 |
+
"grasp_scenarios": [],
|
| 308 |
+
"functional_labels": [
|
| 309 |
+
"support blade",
|
| 310 |
+
"guide blade extension",
|
| 311 |
+
"connect blade to slider mechanism",
|
| 312 |
+
"position cutting tip"
|
| 313 |
+
],
|
| 314 |
+
"semantic_description": "Small yellow tapered nose section at the front of the handle, surrounding the blade base and leading into the exposed tip.",
|
| 315 |
+
"id": 3,
|
| 316 |
+
"grasp_group": {}
|
| 317 |
+
},
|
| 318 |
+
{
|
| 319 |
+
"part_name": "blade tip",
|
| 320 |
+
"mask_color": "Teal",
|
| 321 |
+
"graspable": false,
|
| 322 |
+
"grasp_scenarios": [],
|
| 323 |
+
"functional_labels": [
|
| 324 |
+
"cut material",
|
| 325 |
+
"score surfaces",
|
| 326 |
+
"pierce thin material",
|
| 327 |
+
"provide sharp working edge"
|
| 328 |
+
],
|
| 329 |
+
"semantic_description": "Tiny exposed pointed metallic-looking blade tip, appearing dark green/teal in the image, protruding from the front nose as the sharp cutting end of the knife.",
|
| 330 |
+
"id": 10,
|
| 331 |
+
"grasp_group": {}
|
| 332 |
+
},
|
| 333 |
+
{
|
| 334 |
+
"part_name": "side lock button",
|
| 335 |
+
"mask_color": "Blue",
|
| 336 |
+
"graspable": false,
|
| 337 |
+
"grasp_scenarios": [],
|
| 338 |
+
"functional_labels": [
|
| 339 |
+
"lock blade position",
|
| 340 |
+
"release blade mechanism",
|
| 341 |
+
"secure safe storage",
|
| 342 |
+
"prevent unintended blade movement"
|
| 343 |
+
],
|
| 344 |
+
"semantic_description": "Small blue side-mounted button with a smooth finish and rounded rectangular shape, slightly raised near the rear side of the handle.",
|
| 345 |
+
"id": 2,
|
| 346 |
+
"grasp_group": {}
|
| 347 |
+
}
|
| 348 |
+
],
|
| 349 |
+
"quality_check": {
|
| 350 |
+
"success": false,
|
| 351 |
+
"message": "Semantic descriptions use wrong real colors/material; handle is not orange and blade tip is metallic, not teal."
|
| 352 |
+
}
|
| 353 |
+
}
|
dataset/desktop_supplies/office_tools/44e49b35fadf5945891867fa30af7091/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3ce94c8bdf258e9bda5c126d46ac5f56d94764051e13643deecc9cacfdd511f8
|
| 3 |
+
size 3787456
|
dataset/desktop_supplies/office_tools/44e49b35fadf5945891867fa30af7091/cutter_knife_004.urdf
CHANGED
|
@@ -54,6 +54,7 @@
|
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
|
|
|
| 57 |
</affordance>
|
| 58 |
<quality>
|
| 59 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
| 57 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 58 |
</affordance>
|
| 59 |
<quality>
|
| 60 |
<PartSegChecker>YES</PartSegChecker>
|