Add asset desktop_supplies/office_tools/34805fd4735a5809831807398f5f7960
Browse files- .gitattributes +2 -1
- dataset/desktop_supplies/office_tools/34805fd4735a5809831807398f5f7960/affordance/affordance_annot.json +465 -0
- dataset/desktop_supplies/office_tools/34805fd4735a5809831807398f5f7960/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_tools/34805fd4735a5809831807398f5f7960/scissors_007.urdf +1 -0
.gitattributes
CHANGED
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@@ -6546,4 +6546,5 @@ dataset/desktop_supplies/office_tools/2f697d3319c957f6915e9bf1fc8f6d7d/affordanc
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| 6546 |
dataset/desktop_supplies/office_tools/2d86f440ad11583db7743a384dd7c6dc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6547 |
dataset/desktop_supplies/office_tools/319607e267a25b66803955949c56b7d0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6548 |
dataset/desktop_supplies/office_tools/328d85b3ce345cd09d563cf1debca0e9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6549 |
-
dataset/desktop_supplies/office_tools/
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| 6546 |
dataset/desktop_supplies/office_tools/2d86f440ad11583db7743a384dd7c6dc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6547 |
dataset/desktop_supplies/office_tools/319607e267a25b66803955949c56b7d0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6548 |
dataset/desktop_supplies/office_tools/328d85b3ce345cd09d563cf1debca0e9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6549 |
+
dataset/desktop_supplies/office_tools/33ce8a76377e5154a6fc65b5fb34e91b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6550 |
+
dataset/desktop_supplies/office_tools/34805fd4735a5809831807398f5f7960/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/34805fd4735a5809831807398f5f7960/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,465 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "scissor blade",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "pinch the closed blade near its base to stabilize the tool during inspection or reorientation",
|
| 10 |
+
"confidence": 0.31
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp the closed blade section briefly to pick up the tool when safer handle access is blocked",
|
| 14 |
+
"confidence": 0.2
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"cut material",
|
| 19 |
+
"form one cutting edge",
|
| 20 |
+
"pierce or start a cut",
|
| 21 |
+
"shear against the opposing blade"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Thin silver metal blade with a smooth reflective finish and pointed tapered shape, extending forward from the central pivot as one of the two cutting members.",
|
| 24 |
+
"id": 2,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_22": {
|
| 27 |
+
"confidence": 0.9597512483596802,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.15159862115979195,
|
| 30 |
+
-0.05810918565839529,
|
| 31 |
+
0.0051577535341493785
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.6647687061228955,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.2162457473817177,
|
| 37 |
+
0.6872376178125432,
|
| 38 |
+
0.19754695837282568
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_23": {
|
| 43 |
+
"confidence": 0.9535967111587524,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.1527053900063038,
|
| 46 |
+
-0.0556173799559474,
|
| 47 |
+
-0.00630723248468712
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.6905707855800953,
|
| 51 |
+
"xyz": [
|
| 52 |
+
-0.18253996968876332,
|
| 53 |
+
0.6661446245822086,
|
| 54 |
+
0.21457513534783937
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
}
|
| 58 |
+
}
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"part_name": "scissor blade",
|
| 62 |
+
"mask_color": "Navy",
|
| 63 |
+
"graspable": true,
|
| 64 |
+
"grasp_scenarios": [
|
| 65 |
+
{
|
| 66 |
+
"scenario": "pinch the closed blade near its base to stabilize the tool during inspection or reorientation",
|
| 67 |
+
"confidence": 0.29
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"scenario": "grasp the closed blade section briefly to pick up the tool when safer handle access is blocked",
|
| 71 |
+
"confidence": 0.19
|
| 72 |
+
}
|
| 73 |
+
],
|
| 74 |
+
"functional_labels": [
|
| 75 |
+
"cut material",
|
| 76 |
+
"form one cutting edge",
|
| 77 |
+
"pierce or start a cut",
|
| 78 |
+
"oppose the other blade for shearing"
|
| 79 |
+
],
|
| 80 |
+
"semantic_description": "Thin silver metal blade with a smooth reflective finish and pointed tapered profile, positioned opposite the other blade and joined at the central pivot.",
|
| 81 |
+
"id": 13,
|
| 82 |
+
"grasp_group": {
|
| 83 |
+
"grasp_68": {
|
| 84 |
+
"confidence": 0.9042956233024597,
|
| 85 |
+
"position": [
|
| 86 |
+
-0.14518654718995094,
|
| 87 |
+
0.05820268113166094,
|
| 88 |
+
0.004128196451347321
|
| 89 |
+
],
|
| 90 |
+
"orientation": {
|
| 91 |
+
"w": 0.6715618267150352,
|
| 92 |
+
"xyz": [
|
| 93 |
+
0.181313658024548,
|
| 94 |
+
0.6961191778709769,
|
| 95 |
+
-0.1776180185486754
|
| 96 |
+
]
|
| 97 |
+
}
|
| 98 |
+
},
|
| 99 |
+
"grasp_70": {
|
| 100 |
+
"confidence": 0.90206378698349,
|
| 101 |
+
"position": [
|
| 102 |
+
-0.1472744531929493,
|
| 103 |
+
0.05827654618769884,
|
| 104 |
+
0.0032448209240101278
|
| 105 |
+
],
|
| 106 |
+
"orientation": {
|
| 107 |
+
"w": 0.6710510751839733,
|
| 108 |
+
"xyz": [
|
| 109 |
+
0.17888442497258816,
|
| 110 |
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0.6994469373530755,
|
| 111 |
+
-0.1687151410634589
|
| 112 |
+
]
|
| 113 |
+
}
|
| 114 |
+
},
|
| 115 |
+
"grasp_71": {
|
| 116 |
+
"confidence": 0.8869522213935852,
|
| 117 |
+
"position": [
|
| 118 |
+
-0.1341828666627407,
|
| 119 |
+
0.06753207836300135,
|
| 120 |
+
-1.3457807654049248e-05
|
| 121 |
+
],
|
| 122 |
+
"orientation": {
|
| 123 |
+
"w": 0.6665067354585701,
|
| 124 |
+
"xyz": [
|
| 125 |
+
0.21014618236865124,
|
| 126 |
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0.6816851892120822,
|
| 127 |
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-0.21659329729501942
|
| 128 |
+
]
|
| 129 |
+
}
|
| 130 |
+
},
|
| 131 |
+
"grasp_74": {
|
| 132 |
+
"confidence": 0.7582428455352783,
|
| 133 |
+
"position": [
|
| 134 |
+
-0.16057324782013893,
|
| 135 |
+
0.00974886305630207,
|
| 136 |
+
8.244729542639107e-06
|
| 137 |
+
],
|
| 138 |
+
"orientation": {
|
| 139 |
+
"w": 0.7067245842460391,
|
| 140 |
+
"xyz": [
|
| 141 |
+
0.0012093208721466527,
|
| 142 |
+
0.7074830199715348,
|
| 143 |
+
0.002583798995281376
|
| 144 |
+
]
|
| 145 |
+
}
|
| 146 |
+
},
|
| 147 |
+
"grasp_77": {
|
| 148 |
+
"confidence": 0.7165688872337341,
|
| 149 |
+
"position": [
|
| 150 |
+
0.1250167153775692,
|
| 151 |
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-0.000747819198295474,
|
| 152 |
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-0.0004693667870014906
|
| 153 |
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],
|
| 154 |
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}
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},
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{
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| 339 |
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"part_name": "handle scale with lanyard ring",
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| 340 |
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{
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"scenario": "grasp this smaller handle scale to steady or manipulate the folding scissors",
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},
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{
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"scenario": "hold this handle while actuating the tool open or closed",
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},
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{
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"scenario": "pinch both handles together for compact transport",
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}
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],
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"provide secondary grip surface",
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"provide lanyard or attachment point"
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],
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"semantic_description": "Small metal lanyard loop attached at the end of the handle scale, visible as a ring-like extension used for attachment or hanging.",
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"id": 1,
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],
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}
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}
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},
|
| 431 |
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{
|
| 432 |
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"part_name": "pivot joint",
|
| 433 |
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"mask_color": "Magenta",
|
| 434 |
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"graspable": false,
|
| 435 |
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"grasp_scenarios": [],
|
| 436 |
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"functional_labels": [
|
| 437 |
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"connect both scissor halves",
|
| 438 |
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"enable blade rotation",
|
| 439 |
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"maintain blade alignment",
|
| 440 |
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"transfer force between handles and blades"
|
| 441 |
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],
|
| 442 |
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"semantic_description": "Small round silver central pivot with a smooth metallic finish, located at the center where the two blades and handles rotate relative to each other.",
|
| 443 |
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"id": 7,
|
| 444 |
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"grasp_group": {}
|
| 445 |
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},
|
| 446 |
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{
|
| 447 |
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"part_name": "fastener pin",
|
| 448 |
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"mask_color": "Olive",
|
| 449 |
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"graspable": false,
|
| 450 |
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"grasp_scenarios": [],
|
| 451 |
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"functional_labels": [
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| 452 |
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"secure handle components",
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"retain the grip insert or side hardware",
|
| 454 |
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"reinforce local structure"
|
| 455 |
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],
|
| 456 |
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"semantic_description": "Tiny circular silver metal fastener with a reflective finish, mounted near the handle ends as a small structural attachment point.",
|
| 457 |
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"id": 14,
|
| 458 |
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"grasp_group": {}
|
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}
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],
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| 461 |
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"quality_check": {
|
| 462 |
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"success": false,
|
| 463 |
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"message": "Green part identity/description mismatched; it is the full smaller handle, not just a lanyard ring."
|
| 464 |
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}
|
| 465 |
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}
|
dataset/desktop_supplies/office_tools/34805fd4735a5809831807398f5f7960/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
|
|
|
|
|
|
|
|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:3aea581d7c9c1a1d1e14790a7e39cf1d45acd34127db4d2b05d9c062129d4360
|
| 3 |
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size 3802028
|
dataset/desktop_supplies/office_tools/34805fd4735a5809831807398f5f7960/scissors_007.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>
|