Add asset desktop_supplies/office_tools/22512be5b0795582a5df28aa703d297c
Browse files
.gitattributes
CHANGED
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@@ -6532,4 +6532,4 @@ dataset/desktop_supplies/office_tools/20a016b2cec35969ab5822caef4d05b0/affordanc
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| 6532 |
dataset/desktop_supplies/office_tools/21e5cda4f76a553eb73f475b0990a00f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6533 |
dataset/desktop_supplies/office_tools/2241bc322fac53e1b90d88d44e02e6b5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6534 |
dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6535 |
-
dataset/desktop_supplies/office_tools/
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| 6532 |
dataset/desktop_supplies/office_tools/21e5cda4f76a553eb73f475b0990a00f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6533 |
dataset/desktop_supplies/office_tools/2241bc322fac53e1b90d88d44e02e6b5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6534 |
dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6535 |
+
dataset/desktop_supplies/office_tools/22512be5b0795582a5df28aa703d297c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/22512be5b0795582a5df28aa703d297c/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,647 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "finger loop handle",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp one handle loop area to pick up the scissors from a table",
|
| 10 |
+
"confidence": 0.81
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle side to stabilize the scissors while repositioning",
|
| 14 |
+
"confidence": 0.76
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"provide finger insertion",
|
| 19 |
+
"enable opening and closing control",
|
| 20 |
+
"serve as a main gripping area",
|
| 21 |
+
"help orient the scissors"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "One of the two light blue plastic handle loops, with a smooth slightly glossy hard surface and rounded oval shape at the rear of the scissors.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_0": {
|
| 27 |
+
"confidence": 0.9603252410888672,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.02610096865100786,
|
| 30 |
+
-0.1829801113344729,
|
| 31 |
+
-0.0034916005897684954
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.544428129659602,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.4669753106808089,
|
| 37 |
+
0.5210639756631946,
|
| 38 |
+
0.4626277165453617
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_2": {
|
| 43 |
+
"confidence": 0.9545008540153503,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.0204045043210499,
|
| 46 |
+
-0.1823322237469256,
|
| 47 |
+
-0.0009125076103373431
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.5295738233267128,
|
| 51 |
+
"xyz": [
|
| 52 |
+
-0.47881978550320525,
|
| 53 |
+
0.5216493846348377,
|
| 54 |
+
0.46708146844837195
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_3": {
|
| 59 |
+
"confidence": 0.9542296528816223,
|
| 60 |
+
"position": [
|
| 61 |
+
-0.026478945917915553,
|
| 62 |
+
-0.18126683542504907,
|
| 63 |
+
-0.003544828934536781
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.5450189651883101,
|
| 67 |
+
"xyz": [
|
| 68 |
+
-0.45697863794505594,
|
| 69 |
+
0.5302311515856689,
|
| 70 |
+
0.46149732169870866
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_4": {
|
| 75 |
+
"confidence": 0.9497495889663696,
|
| 76 |
+
"position": [
|
| 77 |
+
-0.02608461835188791,
|
| 78 |
+
-0.18068093666806817,
|
| 79 |
+
-0.0031470419708057307
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.5436057082876737,
|
| 83 |
+
"xyz": [
|
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| 516 |
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|
| 548 |
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|
| 564 |
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|
| 565 |
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|
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|
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|
| 570 |
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|
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|
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|
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|
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},
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|
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|
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|
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0.0006856580512248911
|
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],
|
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"orientation": {
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|
| 588 |
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"xyz": [
|
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0.6980358811919646,
|
| 590 |
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|
| 591 |
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|
| 592 |
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]
|
| 593 |
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}
|
| 594 |
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}
|
| 595 |
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}
|
| 596 |
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},
|
| 597 |
+
{
|
| 598 |
+
"part_name": "blade of scissors",
|
| 599 |
+
"mask_color": "Blue",
|
| 600 |
+
"graspable": false,
|
| 601 |
+
"grasp_scenarios": [],
|
| 602 |
+
"functional_labels": [
|
| 603 |
+
"cut material",
|
| 604 |
+
"form one cutting edge",
|
| 605 |
+
"meet the other blade in shearing action",
|
| 606 |
+
"guide the cutting tip"
|
| 607 |
+
],
|
| 608 |
+
"semantic_description": "A narrow silver-gray metal blade with a reflective smooth finish, hard sharp-edged tapered shape, and pointed tip extending forward from the pivot.",
|
| 609 |
+
"id": 2,
|
| 610 |
+
"grasp_group": {}
|
| 611 |
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},
|
| 612 |
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{
|
| 613 |
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"part_name": "blade of scissors",
|
| 614 |
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"mask_color": "Yellow",
|
| 615 |
+
"graspable": false,
|
| 616 |
+
"grasp_scenarios": [],
|
| 617 |
+
"functional_labels": [
|
| 618 |
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"cut material",
|
| 619 |
+
"form the opposing cutting edge",
|
| 620 |
+
"provide shearing contact",
|
| 621 |
+
"guide the cutting tip"
|
| 622 |
+
],
|
| 623 |
+
"semantic_description": "The opposing silver-gray metal blade, smooth and reflective with a hard tapered triangular form and pointed tip projecting from the pivot.",
|
| 624 |
+
"id": 3,
|
| 625 |
+
"grasp_group": {}
|
| 626 |
+
},
|
| 627 |
+
{
|
| 628 |
+
"part_name": "pivot joint",
|
| 629 |
+
"mask_color": "Orange",
|
| 630 |
+
"graspable": false,
|
| 631 |
+
"grasp_scenarios": [],
|
| 632 |
+
"functional_labels": [
|
| 633 |
+
"connect the two blades",
|
| 634 |
+
"enable rotational motion",
|
| 635 |
+
"maintain blade alignment",
|
| 636 |
+
"transfer closing force"
|
| 637 |
+
],
|
| 638 |
+
"semantic_description": "A small round metallic fastener at the blade intersection, with a smooth reflective finish and hard compact shape centered between the handles and blade lengths.",
|
| 639 |
+
"id": 4,
|
| 640 |
+
"grasp_group": {}
|
| 641 |
+
}
|
| 642 |
+
],
|
| 643 |
+
"quality_check": {
|
| 644 |
+
"success": true,
|
| 645 |
+
"message": "YES"
|
| 646 |
+
}
|
| 647 |
+
}
|
dataset/desktop_supplies/office_tools/22512be5b0795582a5df28aa703d297c/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:776fb068ba82a5cf24ec7664f2f0b16fee6d4cfcd75d1dd12851a3fb506f244c
|
| 3 |
+
size 3781088
|