Add asset desktop_supplies/office_tools/88b988087418513781220752c856b16d
Browse files
.gitattributes
CHANGED
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@@ -6601,3 +6601,4 @@ dataset/desktop_supplies/office_tools/87085d7a1f5c50a7aba77a068f4603d6/affordanc
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| 6601 |
dataset/desktop_supplies/office_tools/8779f25f1f3b55728523f897a2cb9d2f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6602 |
dataset/desktop_supplies/office_tools/87c1dd4aea385e9687a5427f521b1da8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6603 |
dataset/desktop_supplies/office_tools/884d83f5277c56119c27ad73f8e4407e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6601 |
dataset/desktop_supplies/office_tools/8779f25f1f3b55728523f897a2cb9d2f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6602 |
dataset/desktop_supplies/office_tools/87c1dd4aea385e9687a5427f521b1da8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6603 |
dataset/desktop_supplies/office_tools/884d83f5277c56119c27ad73f8e4407e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6604 |
+
dataset/desktop_supplies/office_tools/88b988087418513781220752c856b16d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/88b988087418513781220752c856b16d/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,880 @@
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|
| 1 |
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{
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| 2 |
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"affordances": [
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| 3 |
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{
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| 4 |
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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{
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| 9 |
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| 10 |
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| 11 |
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},
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| 12 |
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{
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| 13 |
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"scenario": "pinch this handle side to stabilize the scissors while another gripper manipulates the blades or opposite handle",
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| 14 |
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| 15 |
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}
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| 16 |
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],
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| 17 |
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| 18 |
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"provide one finger loop for holding the scissors",
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| 19 |
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"support gripping and manipulation",
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| 20 |
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"transmit squeezing force to actuate the blades",
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| 21 |
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"help control tool orientation"
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| 22 |
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],
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| 23 |
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"semantic_description": "One rear handle half of the scissors, made of pink plastic with a light blue inner ring around the oval finger opening. It is smooth, slightly matte, medium-sized, and extends from the pivot to the right-side finger loop.",
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| 24 |
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},
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{
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| 321 |
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{
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"scenario": "grasp the other handle half near the loop to lift and orient the scissors",
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},
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| 325 |
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{
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"scenario": "hold this handle side to counter movement during controlled manipulation or opening and closing",
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],
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| 330 |
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"provide the second finger loop for holding the scissors",
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| 332 |
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"support gripping and manipulation",
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| 333 |
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"provide counterforce for closing motion",
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| 334 |
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"help control tool orientation"
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| 335 |
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],
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"semantic_description": "The other rear handle half, also pink plastic with a light blue inner ring around the oval opening. It is smooth, slightly matte, medium-sized, and extends from the pivot to the left-side finger loop.",
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+
"xyz": [
|
| 790 |
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-0.7716885244095302,
|
| 791 |
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-0.061219110800487586,
|
| 792 |
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-0.6221077086654826
|
| 793 |
+
]
|
| 794 |
+
}
|
| 795 |
+
},
|
| 796 |
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"grasp_53": {
|
| 797 |
+
"confidence": 0.9797614812850952,
|
| 798 |
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"position": [
|
| 799 |
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0.08126855693990365,
|
| 800 |
+
0.07890357253199909,
|
| 801 |
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0.04258639249019325
|
| 802 |
+
],
|
| 803 |
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"orientation": {
|
| 804 |
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"w": 0.5005920715354621,
|
| 805 |
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"xyz": [
|
| 806 |
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-0.0825693677156769,
|
| 807 |
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-0.8481657406677294,
|
| 808 |
+
-0.15233106639300495
|
| 809 |
+
]
|
| 810 |
+
}
|
| 811 |
+
},
|
| 812 |
+
"grasp_57": {
|
| 813 |
+
"confidence": 0.9773204326629639,
|
| 814 |
+
"position": [
|
| 815 |
+
0.09644226037198678,
|
| 816 |
+
0.06962109533196781,
|
| 817 |
+
-0.001930847531184554
|
| 818 |
+
],
|
| 819 |
+
"orientation": {
|
| 820 |
+
"w": 0.7164547297495164,
|
| 821 |
+
"xyz": [
|
| 822 |
+
0.06402058842575399,
|
| 823 |
+
-0.6921058308712426,
|
| 824 |
+
0.05986237007665696
|
| 825 |
+
]
|
| 826 |
+
}
|
| 827 |
+
},
|
| 828 |
+
"grasp_59": {
|
| 829 |
+
"confidence": 0.9759076237678528,
|
| 830 |
+
"position": [
|
| 831 |
+
0.09188325010472909,
|
| 832 |
+
0.12941140112525318,
|
| 833 |
+
0.00041951180901378393
|
| 834 |
+
],
|
| 835 |
+
"orientation": {
|
| 836 |
+
"w": 0.13722063084037164,
|
| 837 |
+
"xyz": [
|
| 838 |
+
0.684826290399299,
|
| 839 |
+
0.14286094572737684,
|
| 840 |
+
-0.7012661410873801
|
| 841 |
+
]
|
| 842 |
+
}
|
| 843 |
+
}
|
| 844 |
+
}
|
| 845 |
+
},
|
| 846 |
+
{
|
| 847 |
+
"part_name": "pivot joint",
|
| 848 |
+
"mask_color": "Yellow",
|
| 849 |
+
"graspable": false,
|
| 850 |
+
"grasp_scenarios": [],
|
| 851 |
+
"functional_labels": [
|
| 852 |
+
"connect the two halves",
|
| 853 |
+
"enable rotational opening",
|
| 854 |
+
"maintain blade alignment",
|
| 855 |
+
"transmit closing force"
|
| 856 |
+
],
|
| 857 |
+
"semantic_description": "A small round pink fastener at the center of the scissors, smooth and slightly glossy, located where the blades and handles rotate against each other.",
|
| 858 |
+
"id": 3,
|
| 859 |
+
"grasp_group": {}
|
| 860 |
+
},
|
| 861 |
+
{
|
| 862 |
+
"part_name": "small handle connector tab",
|
| 863 |
+
"mask_color": "Red",
|
| 864 |
+
"graspable": false,
|
| 865 |
+
"grasp_scenarios": [],
|
| 866 |
+
"functional_labels": [
|
| 867 |
+
"form a narrow structural bridge near the pivot on the handle side",
|
| 868 |
+
"support local structural continuity",
|
| 869 |
+
"occupy the small connector area between the handle halves"
|
| 870 |
+
],
|
| 871 |
+
"semantic_description": "A very small pink tab-like bridge near the handle junction close to the pivot, smooth, hard, and slightly glossy.",
|
| 872 |
+
"id": 0,
|
| 873 |
+
"grasp_group": {}
|
| 874 |
+
}
|
| 875 |
+
],
|
| 876 |
+
"quality_check": {
|
| 877 |
+
"success": false,
|
| 878 |
+
"message": "Red part misidentified; it is a bumper/stop between handles, not a connector tab."
|
| 879 |
+
}
|
| 880 |
+
}
|
dataset/desktop_supplies/office_tools/88b988087418513781220752c856b16d/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e822df0ff70f669c3d3bcd29f4d66f491fc144a91bfc6a16fee7cb83698a3f8d
|
| 3 |
+
size 3778820
|