Add asset desktop_supplies/office_tools/9f1fbbd487c85461bdbe1e79d6ddc7be
Browse files
.gitattributes
CHANGED
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@@ -6616,3 +6616,4 @@ dataset/desktop_supplies/office_tools/975523fc1df05dbda2067ff05e1eb32b/affordanc
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| 6616 |
dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6617 |
dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6618 |
dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6616 |
dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6617 |
dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6618 |
dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6619 |
+
dataset/desktop_supplies/office_tools/9f1fbbd487c85461bdbe1e79d6ddc7be/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/9f1fbbd487c85461bdbe1e79d6ddc7be/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,583 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "handle loop",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp one handle loop to pick up the scissors from a table",
|
| 10 |
+
"confidence": 0.87
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold one handle loop to stabilize the scissors during reorientation",
|
| 14 |
+
"confidence": 0.81
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"provide finger insertion",
|
| 19 |
+
"serve as a main grip point",
|
| 20 |
+
"help control opening and closing",
|
| 21 |
+
"support handling and orientation"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "One of the large blue plastic handle loops, with a matte hard smooth surface and rounded oval shape at the rear of the scissors for gripping.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_0": {
|
| 27 |
+
"confidence": 0.9677818417549133,
|
| 28 |
+
"position": [
|
| 29 |
+
0.013605099637061357,
|
| 30 |
+
-0.17219432455021888,
|
| 31 |
+
-0.003994849976152182
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.5132364265758652,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.47956777517185195,
|
| 37 |
+
-0.506996873372552,
|
| 38 |
+
-0.4995570936768023
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_1": {
|
| 43 |
+
"confidence": 0.964029848575592,
|
| 44 |
+
"position": [
|
| 45 |
+
0.007969541009515524,
|
| 46 |
+
-0.172436244902201,
|
| 47 |
+
0.0003233914030715823
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.5046923733130578,
|
| 51 |
+
"xyz": [
|
| 52 |
+
-0.4837711457282624,
|
| 53 |
+
0.511445384253287,
|
| 54 |
+
0.49967459992119423
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_3": {
|
| 59 |
+
"confidence": 0.9589288830757141,
|
| 60 |
+
"position": [
|
| 61 |
+
0.1096466570161283,
|
| 62 |
+
0.052316147717647254,
|
| 63 |
+
-0.0001071257283911109
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.7128032077581798,
|
| 67 |
+
"xyz": [
|
| 68 |
+
0.09184395565983024,
|
| 69 |
+
-0.6921247237140542,
|
| 70 |
+
0.06663063591283103
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_4": {
|
| 75 |
+
"confidence": 0.9575232863426208,
|
| 76 |
+
"position": [
|
| 77 |
+
0.011393016669899225,
|
| 78 |
+
-0.17049144965130836,
|
| 79 |
+
0.0016243817517533898
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.4943699779705791,
|
| 83 |
+
"xyz": [
|
| 84 |
+
-0.4905591015814663,
|
| 85 |
+
0.5078763123800386,
|
| 86 |
+
0.5069632571106184
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_5": {
|
| 91 |
+
"confidence": 0.9554107785224915,
|
| 92 |
+
"position": [
|
| 93 |
+
0.0979124172590673,
|
| 94 |
+
0.0712958051590249,
|
| 95 |
+
-0.0026632577646523714
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.7037855865075964,
|
| 99 |
+
"xyz": [
|
| 100 |
+
0.16556214518494827,
|
| 101 |
+
-0.6743261282098252,
|
| 102 |
+
0.15019752700847835
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_8": {
|
| 107 |
+
"confidence": 0.952182948589325,
|
| 108 |
+
"position": [
|
| 109 |
+
0.013540888670831919,
|
| 110 |
+
-0.16835962992627174,
|
| 111 |
+
-0.0034948457032442093
|
| 112 |
+
],
|
| 113 |
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|
| 524 |
+
"xyz": [
|
| 525 |
+
-0.49689358037798975,
|
| 526 |
+
0.49760904579449694,
|
| 527 |
+
0.4851124534348026
|
| 528 |
+
]
|
| 529 |
+
}
|
| 530 |
+
}
|
| 531 |
+
}
|
| 532 |
+
},
|
| 533 |
+
{
|
| 534 |
+
"part_name": "blade of scissors",
|
| 535 |
+
"mask_color": "Purple",
|
| 536 |
+
"graspable": false,
|
| 537 |
+
"grasp_scenarios": [],
|
| 538 |
+
"functional_labels": [
|
| 539 |
+
"cut material",
|
| 540 |
+
"provide a sharpened edge",
|
| 541 |
+
"shear against the opposing blade",
|
| 542 |
+
"guide cutting direction"
|
| 543 |
+
],
|
| 544 |
+
"semantic_description": "One steel blade with a silver reflective finish, hard smooth surface, and long tapered pointed shape extending forward from the pivot.",
|
| 545 |
+
"id": 5,
|
| 546 |
+
"grasp_group": {}
|
| 547 |
+
},
|
| 548 |
+
{
|
| 549 |
+
"part_name": "blade of scissors",
|
| 550 |
+
"mask_color": "Orange",
|
| 551 |
+
"graspable": false,
|
| 552 |
+
"grasp_scenarios": [],
|
| 553 |
+
"functional_labels": [
|
| 554 |
+
"cut material",
|
| 555 |
+
"provide a sharpened edge",
|
| 556 |
+
"shear against the opposing blade",
|
| 557 |
+
"guide cutting direction"
|
| 558 |
+
],
|
| 559 |
+
"semantic_description": "The opposing steel blade with a silver reflective finish, hard smooth surface, and long tapered pointed shape extending forward from the pivot.",
|
| 560 |
+
"id": 4,
|
| 561 |
+
"grasp_group": {}
|
| 562 |
+
},
|
| 563 |
+
{
|
| 564 |
+
"part_name": "pivot joint",
|
| 565 |
+
"mask_color": "Cyan",
|
| 566 |
+
"graspable": false,
|
| 567 |
+
"grasp_scenarios": [],
|
| 568 |
+
"functional_labels": [
|
| 569 |
+
"connect the two halves",
|
| 570 |
+
"enable rotation",
|
| 571 |
+
"act as the opening and closing axis",
|
| 572 |
+
"keep blades aligned"
|
| 573 |
+
],
|
| 574 |
+
"semantic_description": "Small circular metal fastener at the center hinge, silver and slightly reflective with a hard smooth finish, joining the handles and blades.",
|
| 575 |
+
"id": 6,
|
| 576 |
+
"grasp_group": {}
|
| 577 |
+
}
|
| 578 |
+
],
|
| 579 |
+
"quality_check": {
|
| 580 |
+
"success": true,
|
| 581 |
+
"message": "YES"
|
| 582 |
+
}
|
| 583 |
+
}
|
dataset/desktop_supplies/office_tools/9f1fbbd487c85461bdbe1e79d6ddc7be/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2ae4cec4d2a22b8eb534333145c34bb549b9f90fe4afe4007ffa5242e3c943d2
|
| 3 |
+
size 3783700
|